JP6930234B2 - Collision sensation presentation system and program - Google Patents

Description

The present invention relates to a collision sensation presentation system and a program.

Patent Document 1 describes a force sensation generating means for generating a force sensation given to a user's finger according to a virtual space image, and a force sensation attached to the finger and generated by the force sensation generating means to the finger. The force sense presenting means to be presented and the force sense generated by the force sense generation means push the finger back and hold the finger in a predetermined position, so that the finger is added to the force sense presentation means. A measuring means for measuring the acting force at a predetermined time, a determining means for determining whether or not the acting force measured by the measuring means is equal to or higher than the first threshold value, and the determining means for determining the acting force to be the first. When it is determined that the value is equal to or greater than the threshold value of, the force sense changing means for changing the magnitude of the force sense generated by the force sense generating means to a second threshold value smaller than the first threshold value. A force sense presenting device characterized by being provided is disclosed.

Patent Document 2 describes an image generation means for generating a virtual space image, a display means for displaying a virtual space image generated by the image generation means, and a force sense given to a user's finger according to the virtual space image. A force sensation generating means for generating An image correction means for correcting the virtual space image generated by the image generation means so as to remove the thickness of the force sense presenting means in the virtual space image displayed by the display means when the object is brought into contact with the object. A force sensation presenting device comprising the above is disclosed.

Japanese Unexamined Patent Publication No. 2004-213351 Japanese Unexamined Patent Publication No. 2004-213350

Vehicles are used in virtual reality systems that provide VR content, and are classified into three types: passive type, active type, and virtual drive type. The passive type is a form in which content that matches the driving of the vehicle is presented, such that if the vehicle accelerates, the content that is presented also accelerates. The active type is a form in which the vehicle is driven by automatic driving according to the content to be presented to present a sense of movement and the like to improve the sense of presence of the content. The virtual drive type is a form in which the driver actually wears the HMD and actually runs the vehicle in the real space while the image of the virtual space is presented.

In a virtual reality system, there is no practical example of a technology in which a moving object such as a vehicle is used as a motion platform (MP) in an active form in which a sense is presented according to a video presentation. Further, the "technology for presenting sensation" described in Patent Documents 1 and 2 also presents a sense of force to the user's finger, and presents a sensation that the user can perceive with the whole body such as an impact due to a collision. It wasn't something to do.

An object of the present invention is a collision sensation presentation system and a program capable of presenting a collision sensation with an elastic body to a user when a collision event occurs in a virtual space provided to a user boarding a moving body. Is to provide.

In order to achieve the above object, the invention according to claim 1 is a collision sensation presenting device as a moving body that presents a collision sensation to a passenger on board by vibration of a suspension, and a collision between objects in a virtual space. When the occurrence is predicted, the movement so as to vibrate the suspension with an amplitude corresponding to the amount of displacement of the object due to the collision in the virtual space or the difference in elasticity between the objects in accordance with the occurrence of the collision. It is a collision sensation presentation system including a drive control device for driving and controlling each part of the body other than the suspension.

According to the present invention, when a collision event occurs in the virtual space provided to the user boarding the moving body, the user can be presented with the feeling of collision with the elastic body.

It is the schematic which shows the outline of the collision sensation presentation system which concerns on 1st Embodiment of this invention. It is a block diagram which shows an example of the structure of the collision sensation presentation system which concerns on 1st Embodiment of this invention. It is a block diagram which shows an example of the electric structure of the VR content reproduction apparatus. It is a block diagram which shows an example of the drive control system of a moving body. (A) and (B) are diagrams for explaining an example of collision between objects. (A) is a schematic diagram showing elasticity. (B) is a schematic diagram showing an example of collision with an elastic body. (C) is a schematic diagram showing an example of the structure of a moving body. (A) and (B) are graphs showing an example of time change of displacement of an object involved in a collision in virtual space. (A) and (B) are schematic views showing how the suspension vibrates. FIGS. (A) to (D) are schematic views illustrating an example of a procedure for driving a moving body for vibrating the suspension. It is a flowchart which shows an example of the flow of "collision event detection processing" which concerns on 1st Embodiment of this invention. It is a flowchart which shows another example of the flow of "collision event detection processing". It is a time chart which shows an example of the scenario of VR contents. It is a flowchart which shows an example of the flow of "impact generation processing". It is a flowchart which shows an example of the flow of "drive pattern acquisition processing" which concerns on 1st Embodiment of this invention. (A) and (B) are schematic diagrams showing the correlation between the swing pattern and the drive pattern. It is a flowchart which shows an example of the flow of "drive pattern acquisition processing" which concerns on 2nd Embodiment of this invention. It is a figure which shows an example of the table which associates a swing pattern and a drive pattern in advance according to the type of a collision. It is a flowchart which shows an example of the flow of "drive pattern acquisition processing" which concerns on 3rd Embodiment of this invention. It is a figure which shows an example of the scenario in which a collision type, a swing pattern, and a drive pattern are registered in advance.

Hereinafter, an example of the embodiment of the present invention will be described in detail with reference to the drawings.

<First Embodiment>
(Collision sensation presentation system)
First, the outline of the collision sensation presentation system will be briefly described.
FIG. 1 is a schematic view showing an outline of a collision sensation presentation system according to the first embodiment of the present invention. As shown in FIG. 1, in the collision sensation presentation system according to the present embodiment, the moving body 44 provided with the suspension is used as a motion platform (MP) to allow the user 12 to experience an event occurring in the virtual space. Provide virtual reality content (VR content). Examples of the moving body 44 provided with the suspension include a vehicle, an electric wheelchair, and the like.

The user 12 is aboard the mobile body 44 with the head mounted display (HMD) 50 attached. The HMD 50 presents the video and audio of the virtual space to the user 12. The moving body 44 is driven in response to an event that occurs in the virtual space, such as collision, movement, inclination, and temperature change. As a result, the user 12 on board the moving body 44 is presented with a feeling corresponding to the event. Humans recognize the phenomena that occur around us by integrating multiple senses. Therefore, when the image (visual sense) and other senses are presented at the same time, the user 12 thinks that the information in the virtual space is a fact, and the presence of the VR content is enhanced.

In the present embodiment, a case where the moving body 44 is used as an MP to present a collision sensation corresponding to a collision event will be described. The collision sensation presentation system according to the present embodiment drives the moving body 44 to present the collision sensation corresponding to the collision event to the user 12 when a collision event between objects occurs in the virtual space, and displays the HMD 50. The video and audio reflecting the collision event are presented to the user 12 through the system.

Next, the configuration of the collision sensation presentation system will be described.
FIG. 2 is a block diagram showing an example of the configuration of the collision sensation presentation system according to the first embodiment of the present invention. As shown in FIG. 2, the collision sensation presentation system includes a VR content reproduction device 10 and a sensation presentation device group 40.

The VR content playback device 10 includes a VR content storage unit 11, a collision analysis unit 14, and an information update unit 16. The collision analysis unit 14 includes a collision event detection unit 18 and an impact generation unit 20. The sensory presentation device group 40 includes a mobile body 44, a video display device 46, and an audio output device 48. As will be described later, in the present embodiment, the HMD 50 includes a video display device 46 and an audio output device 48.

The VR content is stored in the VR content storage unit 11. The collision analysis unit 14 reads the VR video information to be reproduced next from the VR content storage unit 11. The collision event detection unit 18 detects a collision event from the VR video information. When a collision event is detected, the impact generation unit 20 acquires collision information from the collision event detection unit 18 and generates drive information according to the collision event from the acquired collision information. Here, the "drive information" is a "drive pattern" representing a change with time of a drive control value for driving and controlling a drive target. The drive pattern is obtained for each drive target such as a waveform pattern of the accelerator voltage.

The information update unit 16 acquires a drive control value at predetermined time intervals (for example, every 0.01 seconds) based on the drive information, and outputs the acquired drive control value as "control information" to the moving body 44. .. The drive control value (control information) is updated at predetermined time intervals. The mobile body 44 is driven and controlled based on the obtained "control information". The moving body 44 is driven, and the collision sensation corresponding to the collision event is presented to the user 12.

The impact generation unit 20 generates drive information according to the collision event, and also generates video information and audio information reflecting the collision event. The video information and audio information are output to the HMD 50 (video display device 46 and audio output device 48) at the timing of outputting the control information. As a result, the video and audio are switched in synchronization with the movement of the moving body 44. Video and audio reflecting the collision event are presented to the user 12 via the HMD 50.

Here, the electrical configuration of the VR content playback device 10 will be described.
FIG. 3 is a block diagram showing an example of the electrical configuration of the VR content playback device.
The VR content playback device 10 is configured as a computer. That is, the VR content playback device 10 includes a CPU 10A, a ROM 10B, a RAM 10C, a non-volatile memory 10D, and an input / output unit (I / O) 10E. Each of these parts is connected to each other via a bus 10F. The CPU 10A reads out a program or the like stored in the ROM 10B, and executes the program using the RAM 10C as a work area.

The I / O 10E is connected to a communication unit 21 that communicates with an external device, an operation unit 23 that receives an operation from a user, a display unit 25 that displays information to the user, and a storage unit 27 that stores information. Further, the mobile body 44 and the HMD 50 are connected to the I / O 10E of the VR content playback device 10. Each of the communication unit 21, the operation unit 23, the display unit 25, the storage unit 27, the mobile body 44, and the HMD 50 is controlled by the VR content playback device 10, and exchanges information with the VR content playback device 10. ..

In addition to the video display device 46 and the audio output device 48, the HMD 50 includes a head motion detection device 49 that detects the movement of the head of the user 12. The head motion detection device 49 is composed of a 3-axis or 6-axis acceleration sensor or the like. When each of the mobile body 44 and the HMD 50 is a communicable electronic device having a built-in computer, information may be exchanged with each of the mobile body 44 and the HMD 50 via the communication unit 21.

Further, a drive control system for the mobile body 44 when the mobile body 44 is used as an MP will be described. FIG. 4 is a block diagram showing an example of the drive control system of the moving body 44. Here, the case where the moving body 44 is a “vehicle” will be described. As shown in FIG. 4, the moving body 44 includes an operation unit 26, a measurement unit such as a vehicle speedometer 28, a drive unit 30, a drive target 32, and a tire 42.

Examples of the operation unit 26 include pedals 26A and 26D, lever 26B, handle 26C, and remote controller 26E. Examples of the drive unit 30 include a D / A converter 30A, interfaces (I / O) 30B and 30E, and motors 30C and 30D. Examples of the drive target 32 include an accelerator 32A, a shift (shift lever) 32B, a steering 32C, a brake 32D, and an air suspension 32E.

When the mobile body 44 is connected to the VR content playback device 10, as shown by the solid line, the VR content playback device 10 simulates the operation of the operation unit 26 to generate a drive pattern, which is used as the drive pattern. Based on this, control information for driving and controlling the moving body 44 is generated. Then, the VR content reproduction device 10 outputs the obtained control information to the mobile body 44. In the moving body 44, the drive target 32 is driven and controlled via the drive unit 30 according to the input control information. That is, the moving body 44 is used as an MP.

For example, when the user 12 wants to experience the impact of a collision, the drive pattern simulates the operation of the operation unit 26, such as "switch the shift to D, turn on the accelerator, and then turn off the accelerator". Is generated, and control information for driving and controlling the shift and the accelerator according to the generated drive pattern is output to the moving body 44. The drive pattern may be prepared in advance or may be dynamically generated. Here, dynamic means according to interactive VR content that does not proceed according to the scenario.

In FIG. 4, the "air suspension 32E" is illustrated as a part of the moving body 44, but the suspension itself cannot be driven (vibrated). The air suspension replaces the coil spring with an air spring, and the hardness (spring strength) of the suspension can be adjusted. The moving body 44 may be provided with a normal suspension, but when the moving body 44 is provided with an air suspension, the expression of the collision sensation with the elastic body, which will be described later, is diversified.

Further, it is preferable to provide a safety device so that the moving body 44 does not run away. For example, when the VR content reproduction device 10 fails, the connection between the mobile body 44 and the VR content reproduction device 10 may be cut off.

When the moving body 44 is used as a normal moving body (for example, a vehicle), the moving body 44 is connected to a moving body control computer (not shown). In this case, as shown by the dotted line, the operation unit 26 is used as an interface to drive and control the drive target 32. For example, control information is generated by operating the operation unit 26, such that the brake is activated when the brake pedal is depressed. The moving object control computer drives and controls the drive target 32 according to the generated control information. The drive target 32 is driven and controlled via the drive unit 30.

(Simulation of collision with elastic body)
Next, the collision with the elastic body will be described.
5 (A) and 5 (B) are diagrams for explaining an example of collision between objects. Consider the case where the object A collides with the object B. The object A and the object B are objects existing in the virtual space. The object A is an object representing the moving body 44 or the avatar of the user 12 boarding the moving body 44. Hereinafter, it may be referred to as "object A representing user 12". The object A is an object having low elasticity (hard). Here, "elasticity" is a property that an object deformed by an external force tends to return to its original shape when the external force is removed. Further, the "elastic body" is an object having elasticity.

In the example shown in FIG. 5A, the object B is a highly elastic (soft) object. When the elasticity of the object B is high, when the object A hits the object B, the object A is slightly sunk into the object B and then pushed back by the object B in the opposite direction. That is, the object B is set as an elastic body having high elasticity in the virtual space.

On the other hand, in the example shown in FIG. 5B, the object B is a wall having low elasticity (hard). When the elasticity of the object B is low, when the object A hits the object B, it is immediately pressed against the gun. That is, the object B is set as an inelastic body having low elasticity in the virtual space. When the elasticity of the object A is lower than the elasticity of the object B, the object A vibrates.

In the present embodiment, the suspension of the moving body 44 is vibrated so as to simulate the elasticity of the object involved in the collision when presenting the collision sensation in response to the collision event in the virtual space. The vibration of the suspension causes the moving body 44 and the user 12 to swing, and the user 12 is presented with a feeling of collision with the elastic body.

Next, the reason for vibrating (expanding / contracting) the suspension will be described.
FIG. 6A is a schematic view showing elasticity. As shown in FIG. 6A, the "elasticity" or "elastic body" is represented by a spring B and a damper D connected in parallel. FIG. 6B is a schematic view showing an example of collision with an elastic body. As shown in FIG. 6B, the amount of displacement of each of the object A and the object B in the virtual space when the object A collides with the elastic object B is calculated. Here, the displacement of the object A representing the user 12 is represented.

FIG. 6C is a schematic view showing an example of the structure of the moving body. As shown in FIG. 6C, the suspensions 60 and 62 mounted on the moving body 44 are elastic bodies composed of a spring and a damper. Therefore, when the suspensions 60 and 62 are vibrated so as to simulate the elasticity of the object involved in the collision in the virtual space, the user 12 on the moving body 44 is swung in the same manner as the object in the virtual space. , The feeling of collision with the elastic body can be presented to the user.

The suspension is not a drive target, and drive control such as vibrating the suspension cannot be performed. However, for example, the front suspension 60 can be vibrated by driving the moving body 44 to move the load, such as moving the moving body 44 backward immediately after moving it forward. The amplitude and frequency of the vibration of the suspension change depending on the magnitude of the load applied to the suspension. The driving method of the moving body 44 will be described later.

Next, a method of simulating elasticity will be described.
7 (A) and 7 (B) are graphs showing an example of a time change of displacement of an object involved in a collision in a virtual space at the time of a collision. Hereinafter, the time change (swing) of the displacement of the object is referred to as a "swing pattern". 7 (A) and 7 (B) show the time change of the displacement of the object A representing the user 12 when the object A collides with the object B.

When the object A is an inelastic body and the object B is an elastic body (soft), as shown in FIG. 7A, the displacement of the object A at the time of collision is large and changes slowly over time. .. On the other hand, when the object A is an inelastic body and the object B is also an inelastic body (hard), as shown in FIG. 7B, the displacement of the object A at the time of collision is small and the displacement is short. Change.

8 (A) and 8 (B) are schematic views showing how the suspension vibrates. The larger the amplitude of the vibration of the suspension, the longer it takes to restore, and the smaller the amplitude of the vibration of the suspension, the faster the restoration. When the amplitude of the suspension is large, as shown in FIG. 8A, the moving body 44 is largely swung in the vertical direction and is slowly swung over time. Here, the "amplitude" of the vibration of the suspension is the so-called "subduction amount of the suspension", and corresponds to the "expansion / contraction amount" when the spring of the suspension contracts by absorbing the impact on the moving body 44.

On the other hand, when the amplitude of the vibration of the suspension is small, as shown in FIG. 8B, the moving body 44 swings slightly in the vertical direction, and the swing stops in a short time. Note that FIGS. 8A and 8B schematically show that the moving body 44 moves in the vertical direction, and the front wheel tires do not move in the vertical direction.

Therefore, when the object A is an inelastic body and the object B is an elastic body (soft), the displacement of the object A at the time of collision becomes large as shown in FIG. 7 (A), so that the amplitude of the vibration of the suspension As shown in FIG. 8A, the moving body 44 is slowly and greatly swung. When the object A is an inelastic body and the object B is also an inelastic body (hard), the displacement of the object A at the time of collision is small as shown in FIG. 7B, so that the amplitude of the vibration of the suspension is small. As shown in FIG. 8 (B), the moving body 44 is swung small in a short time.

As described above, when the object A is an inelastic body and the object B is an elastic body, the vibration amplitude of the suspension is large, and when the object A is an inelastic body and the object B is also an inelastic body, the vibration of the suspension is large. By changing the elasticity of the vibration of the suspension according to the "elasticity" of the object involved in the collision in the virtual space, such as reducing the elasticity of the object, the elasticity of the object involved in the collision is simulated and the moving body 44 is boarded. The user is presented with a feeling of collision with the elastic body.

(Procedure for driving a moving body)
Next, the procedure for driving the moving body will be described.
The suspension can be vibrated by driving the moving body 44. For example, when the brake is applied during traveling, the load moves forward, and when the moving body 44 stops, the load moves backward. In the present embodiment, the suspension is vibrated by this load transfer.

9 (A) to 9 (D) are schematic views illustrating an example of a procedure for driving a moving body for vibrating the suspension. Initially, as shown in FIG. 9A, the moving body 44 is stopped. Next, as shown in FIG. 9B, the stopped moving body 44 is driven by the force of F1 by turning on the accelerator after the shift change. The moving body 44 moves in one direction at the acceleration a1. For example, the shift is switched to the drive (D), the accelerator voltage is increased in the positive direction, and the moving body 44 is moved forward (forward).

Next, as shown in FIG. 9C, a force F2 in the direction opposite to that of F1 is applied to the moving body 44 by accelerating, braking, or the like after the shift change. The moving body 44 moves in the opposite direction at the acceleration a2. For example, the shift is switched to reverse (R), the accelerator voltage is increased in the negative direction, and the moving body 44 is moved backward (reverse).

Further, when a force F2 in the opposite direction is applied, the spring of the front suspension 60 of the moving body 44 contracts due to the above load transfer. The amount of expansion and contraction of the suspension, that is, the amplitude of the vibration of the suspension, is adjusted by the magnitudes of the forces F1 and F2 and the time for applying each force. Finally, as shown in FIG. 9D, the front suspension 60 is extended by the restoring force of the spring. The damper plays a role of delaying the damping of the vibration of the suspension.

The above-mentioned driving procedure is an example, and the suspension can be vibrated by the load transfer by another driving procedure such as driving so as to pass through a convex portion or a concave portion installed on the road surface.

(Collision event detection processing)
Next, the "collision event detection process" will be described.
FIG. 10 is a flowchart showing an example of the flow of the “collision event detection process” according to the first embodiment of the present invention. The “collision event detection process” represents the operation of the collision event detection unit 18 of FIG. The program of "collision event detection processing" is read from ROM 10B and executed by CPU 10A. Execution of the program of "collision event detection process" is started at the same time as the start of playback of the VR content.

First, in step 100, the video information to be reproduced next is acquired first (preemption). The video information is acquired for each predetermined time (for example, the sample period Δt in FIG. 12). Next, in step 102, the hit determination process is executed. The hit determination process determines that there is a "collision" when there is another object within the monitoring range within a predetermined distance from the object of interest, and "no collision" when there is no other object within the monitoring range. It is a judgment process. Next, in step 104, it is determined whether or not there is a collision based on the determination result. If there is a collision, the process proceeds to step 106, and a collision event is issued in step 106. If there is no collision, step 106 is skipped and step 108 is performed.

Next, in step 108, it is determined whether or not the sensory presentation by the moving body 44 can be performed in synchronization with the sensory presentation by the HMD 50. Since it takes time to drive the moving body 44, if the "collision" in the virtual space cannot be predicted in advance, the sensation presentation by the moving body 44 cannot be performed synchronously. For example, when the speed of an object involved in a collision in the virtual space is faster than a predetermined speed, it is determined that the sensation presentation cannot be performed synchronously because the "collision" cannot be preempted by the hit determination process in the current monitoring range. If it cannot be performed synchronously, the process proceeds to step 110, and the "range" of the hit determination is adjusted in step 110. If it can be done synchronously, step 110 is skipped and step 112 is performed.

Next, in step 112, it is determined whether or not the predetermined time has elapsed. When the predetermined time has elapsed, the process proceeds to step 114. If the predetermined time has not elapsed, the determination in step 112 is repeated. Next, in step 114, it is determined whether or not there is the next video information. If there is no next video information, the routine ends. If there is the next video information, the process returns to step 100.

If the VR content proceeds according to the scenario, the collision event may be detected from the scenario. FIG. 11 is a flowchart showing another example of the flow of the “collision event detection process”. FIG. 12 is a time chart showing an example of a VR content scenario.

First, in step 200 of FIG. 11, the scenario information of the video to be reproduced next is acquired. The scenario information is acquired for each predetermined time. Next, in step 202, the scenario determination process is executed. The scenario determination process is a process of detecting a collision event from a scenario. As shown in FIG. 12, in the scenario, the types of collisions are registered in advance according to the occurrence time. In FIG. 12, "collision A", "collision B", and "collision C" are exemplified as the types of collision. In the illustrated example, scenario information for the sample period Δt is acquired. Therefore, the collision event corresponding to "collision B" and the collision event corresponding to "collision C" within the sample period Δt are detected.

Next, in step 204, it is determined whether or not there is a collision. If there is a collision, the process proceeds to step 206, and a collision event is issued in step 206. A collision event is issued for the detected "collision B" and "collision C". If there is no collision, step 206 is skipped and step 208 proceeds.

Next, in step 208, it is determined whether or not the predetermined time has elapsed. When the predetermined time has elapsed, the process proceeds to step 210. If the predetermined time has not elapsed, the determination in step 208 is repeated. Next, in step 210, it is determined whether or not there is the next scenario information. If there is no next scenario information, the routine ends. If there is the next scenario information, the process returns to step 200.

(Impact generation processing / drive pattern generation processing)
Next, the "impact generation process" will be described.
FIG. 13 is a flowchart showing an example of the flow of the “impact generation process”. The “impact generation process” represents the operation of the impact generation unit 20 of FIG. The program of "impact generation processing" is read from ROM 10B and executed by CPU 10A. Execution of the program of "impact generation processing" is started at the same time as the start of playback of the VR content.

First, in step 300, it is determined whether or not the issuance of a collision event is detected. If it is detected, the process proceeds to step 302, and collision information is acquired in step 302. If it is not detected, the determination in step 300 is repeated.

Next, in step 304, the "drive pattern acquisition process" for acquiring the drive pattern for driving the moving body 44 is executed. Subsequently, in step 306, video information and audio information reflecting the collision are generated. The video information and the audio information may be generated in parallel with the "drive pattern acquisition process". Next, in step 308, it is determined whether or not the update time has arrived. When the update time has arrived, the process proceeds to step 310. If the update time has not arrived, the determination in step 308 is repeated.

Next, in step 310, the control information according to the update time is output to the moving body 44. In addition, video information and audio information according to the update time are output to the HMD 50. The control information, video information, and audio information are output in synchronization. As a result, the control information and the video information and the audio information are updated at the same time. For example, the video and audio are switched in a short time such as every 0.01 seconds, and the control information is updated in synchronization with the switching of the video and audio. Next, in step 312, it is determined whether or not the drive control based on the drive pattern is completed. When finished, end the routine. If it is not finished, the process returns to step 300.

The "drive pattern" is a pattern representing a change over time in a drive control value for driving and controlling a drive target over a predetermined period. The drive pattern is obtained for each drive target. For example, when the shift and the accelerator are to be driven, the waveform pattern of the drive control value for driving the shift and the waveform pattern of the drive control value for driving the accelerator are acquired. Further, the "control information" is a drive control value according to the update time given by the drive pattern. When the control information for a predetermined period is output, the drive control by the drive pattern ends.

Here, the "drive pattern acquisition process" will be described.
FIG. 14 is a flowchart showing an example of the flow of the “drive pattern acquisition process” according to the first embodiment of the present invention. In the first embodiment, the collision information is a physical quantity of an object involved in a collision in virtual space. They are also used to describe the "elasticity" of an object involved in a collision. Specifically, the weight of the object, the hardness of the object, the velocity of the object, and the like are obtained as physical quantities.

First, in step 400, the physical quantity of the object involved in the collision is acquired. Next, in step 402, the time change (swing pattern) of the displacement of the object A representing the user 12 at the time of collision in the virtual space is dynamically calculated using the acquired physical quantity. Here, dynamic means according to interactive VR content that does not proceed according to the scenario. Next, in step 404, the drive pattern for vibrating the suspension of the moving body 44 is acquired from the swing pattern, and the routine ends.

Next, the correlation between the swing pattern and the drive pattern will be described.
15 (A) and 15 (B) are schematic views showing the correlation between the swing pattern and the drive pattern. As shown in FIG. 5A, the collision situation that is the premise of the pattern shown in FIG. 15A is a case where the object A (inelastic body) representing the user 12 collides with the object B (elastic body). be. The swing pattern is the same as the example shown in FIG. 7 (A). As shown in FIG. 5B, the collision situation that is the premise of the pattern shown in FIG. 15B is a case where the object A (inelastic body) representing the user 12 collides with the object B (inelastic body). Is. The swing pattern is the same as the example shown in FIG. 7 (B).

Further, the moving body 44 is driven by the driving procedure shown in FIGS. 9 (A) to 9 (D). The "drive pattern" shown in FIGS. 15A and 15B is represented by a waveform pattern of the accelerator voltage. The accelerator voltage is a drive control value of the accelerator, and is a so-called accelerator depression amount. The accelerator voltage is changed over time according to the waveform pattern. The waveform pattern of the shift drive control value is not shown.

First, the shift is switched to the drive (D), the accelerator voltage is increased in the _{positive direction to V 1,} and the accelerator voltage is held _{at V 1 for the time t 1.} The moving body 44 is accelerated and moves forward (forward). Next, the shift is switched to reverse (R), the accelerator voltage is increased in the _{negative direction to V 2,} and the accelerator voltage is held _{at V 2 for the time t 2.} The moving body 44 is accelerated in the opposite direction and moves backward (backward). After the time t _2, when the accelerator voltage to zero, the moving body 44 to slow down and stop.

The tendency of the correlation between the swing pattern and the drive pattern will be briefly described.
If the displacement in the swing pattern is large, the accelerator voltage V _1, the value of the accelerator voltage V ₂ increases. In addition, the time t ₁ and the time t ₂ also become longer. Further, the difference between the area of the region A determined by the accelerator voltage V ₁ and the time t _{1 (V 1} t ₁ ) and the area of the region B determined by the accelerator voltage V ₂ and the time t _{2 (V 2} t ₂ ) is It becomes smaller. On the other hand, if the displacement in the swing pattern is small, the accelerator voltage V _1, the value of the accelerator voltage V ₂ becomes small. Further, the time t ₁ and the time t ₂ become shorter. Further, the difference between the area of the area A (V ₁ t ₁ ) and the area of the area B (V ₂ t ₂ ) becomes large.

As described with reference to FIGS. 9 (A) to 9 (D), after the force of F1 is applied to the moving body 44, a force F2 in the direction opposite to that of F1 is applied to the moving body 44. The amplitude of the vibration of the suspension is adjusted by the magnitudes of the forces F1 and F2 and the time for applying each force. In order to increase the amplitude of the vibration of the suspension, a force F1 and a force F2 are applied so as to give a large impact and cause the moving body 44 to swing greatly. The area of the region A (V ₁ t ₁ ) represents the magnitude of the force F1 and the time to apply the force F1. The area (V ₂ t ₂ ) of the region B represents the magnitude of the force F2 and the time for applying the force F2. In order to swing the moving body 44 significantly, the area of the area A (V ₁ t ₁ ) is increased, and the area of the area B (V ₂ t ₂ ) is balanced with the area of the area A (V ₁ t _1). ) Is increased.

The swing pattern represents a time change of the displacement D of the object A that collides with the object B in the virtual space. In the swing pattern shown in FIGS. 15A and 15B, the time point at which the displacement starts, that is, the time point at which the collision occurs is displayed as time = 0. _{Let T 0} be the time from the detection of the collision event to the collision. _{Let D peak be} the maximum value of the displacement D of the object A due to the collision in the virtual space. _{Let T 1} be the time from the collision until the displacement D of the object A becomes maximum. The point at which the displacement D of the object A becomes maximum is the first extreme point of the curve representing the time change of the displacement D. The pole change point is a point where dD / dt = 0.

Next, an example of a calculation method for acquiring the waveform pattern of the accelerator voltage from the fluctuation pattern will be described. In the examples shown in FIGS. 15A and 15B, the waveform pattern of the accelerator voltage is determined by the values of _{the accelerator voltage V 1} , the accelerator voltage V ₂ , the time t ₁ , and the time t _2. In the present embodiment, the time t ₁ is defined to be equal _{to the time T 0} from the detection of the collision event to the collision. Further, the time t ₂ is defined as equal _{to the time T 1 from the} collision until the displacement D of the object A becomes maximum, and the time T _{0 until the collision.} Therefore, each value of the accelerator voltage V ₁ and the accelerator voltage V ₂ is calculated from the fluctuation pattern.

Here, a parameter called hardness adjustment gain S is set. The hardness adjustment gain S is a parameter represented by the following equation (1). The hardness adjustment gain S becomes larger as the difference in elasticity between the colliding objects increases. The hardness adjustment gain S is a numerical value in the range of 0 ≦ S ≦ 1, and the larger the difference in elasticity between the colliding objects, the closer to “1”.

In the above equation (1), "D _max " represents a predetermined maximum displacement of the suspension (that is, an upper limit value of the amplitude). Further, "G" represents a predetermined suspension adjustment gain. The suspension adjustment gain G is a numerical value in the range of 0 ≦ G ≦ 1. It is set so that the condition _{(G × D peak} ) = D _max is satisfied when the objects having the largest difference in elasticity between the objects existing in the virtual space collide with each other.

The accelerator voltage V ₁ is obtained from the suspension adjustment gain G, the maximum value D _peak of the displacement D of the object A in the swing pattern, and the time t ₁ (= time T _{0 until collision) using the following equation (2).} Be done.

Further, the area of the area B (V ₂ t _{2 ) is 1/1 S of the area of the area A (V 1} t ₁ ) when the hardness adjustment gain S is used, as represented by the following equation (3). become. When the hardness adjustment gain S = 1, the area of the area A (V ₁ t ₁ ) and the area of the area B (V ₂ t ₂ ) become equal.

By modifying the above equation (3), the accelerator voltage V ₂ is expressed by the following equation (4). When the hardness adjustment gain S = 0, the maximum value D _peak = 0 of the displacement D of the object A due to the collision, and the accelerator voltage V ₂ = 0 may be used.

The above calculation method is an example. If the tendency of the correlation between the above-mentioned swing pattern and the drive pattern can be reproduced according to the swing pattern, the waveform pattern of the accelerator voltage may be acquired by another calculation method. Further, the waveform pattern of the accelerator voltage may be obtained directly from the collision information such as the weight of the object, the hardness of the object, and the speed of the object without obtaining the swing pattern.

<Second Embodiment>
The second embodiment is the same as the first embodiment except for the collision information and the "drive pattern acquisition process", and thus the description thereof will be omitted. In the second embodiment, the collision information is the object name and the relative velocity of the colliding object.

FIG. 16 is a flowchart showing an example of the flow of the “drive pattern acquisition process” according to the second embodiment of the present invention. FIG. 17 is a chart showing an example of a table in which a swing pattern and a drive pattern are associated in advance according to the type of collision.

In the "drive pattern acquisition process" according to the second embodiment, as shown in FIG. 16, first, in step 400, the object name and the relative velocity of the colliding object are acquired. Next, in step 402, the "type of collision" corresponding to the object name and the relative velocity of the colliding object is specified.

Objects existing in the virtual space are registered in advance, such as object A and object B. Therefore, the "type of collision" is stored in advance in a table or the like according to the object name of the two colliding objects and the relative speed at the time of the collision of the two objects, and the collision occurs based on the table or the like. The "type of collision" is specified from the object name and relative velocity of the object. The "type of collision" is determined based on the difference in elasticity between the colliding objects and the relative velocity.

For example, when an inelastic object A and an elastic object B collide with each other at a relative speed X, "collision A (large displacement)" occurs, and an inelastic object A and an elastic object B collide with each other. When they collide at a relative speed Y (<X), "collision B (displacement is medium)", and the inelastic object A and the elastic object B collide at a relative speed Z (<Y). If so, it is specified as "collision C (small displacement)". Further, when the object A which is an inelastic body and the object B which is an inelastic body collide with each other, it is specified as "collision C (displacement is small)" regardless of the relative velocity.

Next, in step 404, a "drive pattern" corresponding to the specified "collision type" is acquired. In the table shown in FIG. 17, there are a plurality of types of collisions, such as collision A, collision B, and collision C. A "swing pattern" and a "drive pattern" are associated with each of the collision A, the collision B, and the collision C. Therefore, in the case of collision A, a "drive pattern" corresponding to the "type of collision" is acquired by the library method, such as this drive pattern. When the "swing pattern" is not used, the "swing pattern" may be omitted in the table shown in FIG.

<Third embodiment>
The third embodiment is a case where the VR content proceeds according to the scenario. "Collision type", "swing pattern" and "drive pattern" are included in the scenario. The third embodiment is the same as the first embodiment except for the collision information and the "drive pattern acquisition process", and thus the description thereof will be omitted. In the third embodiment, the collision information is the type of collision identified from the scenario.

FIG. 18 is a flowchart showing an example of the flow of the “drive pattern acquisition process” according to the third embodiment of the present invention. FIG. 19 is a chart showing an example of a scenario in which the type of collision, the swing pattern, and the drive pattern are registered in advance.

In the present embodiment, as shown in FIG. 19, each of the collision type, the swing pattern, and the drive pattern is registered in advance in the VR content scenario. Therefore, in the "drive pattern acquisition process" according to the third embodiment, as shown in FIG. 18, in step 500, the "drive pattern" corresponding to the "collision type" specified from the scenario is acquired from the scenario. And end the routine.

<Modification example>
It should be noted that the configuration of the collision sensation presentation system and the program described in the above embodiment is an example, and it goes without saying that the configuration may be changed within a range that does not deviate from the gist of the present invention.

In the above embodiment, the waveform pattern of the accelerator voltage is obtained as the drive pattern, but the drive pattern is a pattern representing the time-dependent change of the drive control value for driving and controlling the drive target over a predetermined period, and the accelerator voltage. It is not limited to the waveform pattern of. The drive pattern is obtained for each drive target. When there are a plurality of drive targets, the drive information is a combination of a plurality of drive patterns.

Waveform patterns of a plurality of drive control values may be included. For example, the waveform pattern of the accelerator voltage and the waveform pattern of the brake drive control value (so-called brake depression amount) may be combined.

10 Content playback device 11 Content storage unit 12 User 14 Collision analysis unit 16 Information update unit 18 Collision event detection unit 20 Impact generation unit 21 Communication unit 23 Operation unit 25 Display unit 26 Operation unit 27 Storage unit 28 Vehicle speedometer 30 Drive unit 32 Drive Target 32A Accelerator 32B Shift 32C Steering 32D Brake 32E Air suspension 40 Sensation presentation device group 42 Tire 44 Moving object 46 Video display device 48 Audio output device 60, 62 Suspension B Spring D Damper

Claims (12)

A collision sensation presenting device as a moving body that presents a collision sensation to the passengers on board by vibration of the suspension.
When the occurrence of a collision between objects in the virtual space is predicted, the suspension has an amplitude corresponding to the displacement amount of the object due to the collision in the virtual space or the difference in elasticity between the objects in accordance with the occurrence of the collision. A drive control device that drives and controls each part of the moving body other than the suspension so as to vibrate.
Collision sensation presentation system equipped with. The drive control device is
By moving the moving body in one direction and then moving it in the opposite direction, an impact is applied to the moving body to vibrate the suspension.
The collision sensation presentation system according to claim 1. The drive control device is
The larger the displacement amount of the objects or the difference in elasticity between the objects, the larger the impact is applied to the moving body to increase the amplitude.
The collision sensation presentation system according to claim 2. The drive control device is
When one of the colliding objects is an elastic body, the suspension is vibrated with an amplitude corresponding to the amount of displacement of the other object due to the collision with the elastic body.
The collision sensation presentation system according to claim 1. The drive control device is
Using the physical quantity related to the collision between the objects, a driving procedure for moving the moving body in one direction and then in the opposite direction is obtained.
Each part of the moving body is driven and controlled according to the driving procedure.
The collision sensation presentation system according to claim 2. The drive control device is
The displacement amount of the object is obtained from the physical quantity related to the collision between the objects.
Acquire a driving procedure for moving the moving body in one direction and then in the opposite direction so as to give an impact corresponding to the displacement amount of the object to the moving body.
The collision sensation presentation system according to claim 5. The driving procedure for moving the moving body in one direction and then in the opposite direction is predetermined according to the type of collision.
The drive control device is
Acquire a predetermined driving procedure according to the type of collision to be predicted,
Each part of the moving body is driven and controlled according to the driving procedure.
The collision sensation presentation system according to claim 2. The drive control device is
The time from the prediction of the collision to the collision of the objects is defined as the first time for moving the moving body in one direction, and the time from the collision of the objects to the maximum displacement is defined as the time from the collision of the objects to the maximum displacement. Let it be the second time to move the moving object in the opposite direction.
The first drive control value used in the driving procedure for moving the moving body in one direction according to the maximum displacement amount of the object, the first time, and the second time, and the moving body in the opposite direction. Acquires the second drive control value used for the drive procedure to move to.
The collision sensation presentation system according to claim 5. The drive control device drives and controls the shift and accelerator of the moving body.
The collision sensation presentation system according to any one of claims 1 to 8. The drive control device further drives and controls the brake.
The collision sensation presentation system according to claim 9. When the suspension is an air suspension,
The drive control device adjusts the rigidity of the air suspension.
The collision sensation presentation system according to any one of claims 1 to 10. Computer,
A program for functioning as a drive control device for the collision sensation presentation system according to any one of claims 1 to 11.

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