JPH04243291A - Driving simulator - Google Patents

Abstract

PURPOSE:To approximate the running conditions of moving objects such as the cars running ahead or the oncoming cars, which are projected on a screen, to the conditions of real cars and displayed. CONSTITUTION:In the driving simulator consisting a visual display device CL2, which displays a simulated field of view of the driver sitting on a simulated driver's seat CL1, and a simulated visual field of view generation device CL3, which generates the simulated field of view from the driving and the environmental information of the simulated driving and sends commands to the visual display device mentioned above, it features to provide a means CL4 which adds random variational elements to the position data of the moving objects located in the environmental information.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving simulator capable of simulating the driving of an automobile or the like.

0002

2. Description of the Related Art As a conventional driving simulator, there is one shown in FIG. 4, for example.

[0003] In this driving simulator, when the driver operates the simulator operation unit 1 such as a simulated driver's seat, driving information such as the steering angle is inputted to the host computer 3 as operation data. The equation of motion is solved, and the calculation results of the vehicle's movement, position, direction, etc. are input to the visual computer 105 as a simulated visibility generating device.

On the other hand, data for controlling the position, speed, etc. of a preceding vehicle or an oncoming vehicle, which is a moving body, is inputted to the visual computer 105 by the moving body control console 7.

[0005] Then, the visual computer 5 synthesizes data from the road environment database 9 containing information such as road surrounding conditions with the data of the moving object inputted by the mobile object control console 7, and It is output to the image processor 11 as environmental information data corresponding to the vehicle position input from the computer 3. The image processor 11 creates an image based on data input from the visual computer 5,
This image is projected onto a screen 15 by a projector 13.

Therefore, the driver in the simulated driver's seat can perform simulated driving while looking at the simulated field of view on the screen 15. (For example, USP No. 4383827 is a similar known example)

[0007]

[Problem to be Solved by the Invention] However, in such conventional driving simulators, only data to control the position, speed, etc. of moving objects such as preceding vehicles and oncoming vehicles are input, so calculation processing is required. On the other hand, moving objects such as preceding vehicles and oncoming vehicles projected on the screen 15 appear to be sliding in a straight line on the road surface, which is different from the movement when driving on the actual road surface. There was a possibility that the driver would feel uncomfortable. In addition, it may be difficult to determine whether a moving object such as a preceding vehicle or an oncoming vehicle is moving or stopped.

SUMMARY OF THE INVENTION An object of the present invention is to make it possible to make the driving conditions of a moving object such as a preceding vehicle or an oncoming vehicle projected on a screen closer to the actual driving conditions.

[0009]

[Means for Solving the Problems] The present invention provides a visual field display device CL2 that displays a simulated visual field to a driver seated in a simulated driver's seat CL1, and a visual field display device CL2 that displays a simulated visual field from driving information and environmental information obtained from the simulated driving. The driving simulator is equipped with a simulated visual field generating device CL3 that issues a command to the visual field display device CL2, and is characterized in that a means CL4 is provided for adding a random fluctuation component to the position data of a moving object in the environmental information.

0010

[Operation] A random fluctuation component can be added to the position data of the moving object in the environmental information by the fluctuation component addition means CL4, and the moving object displayed on the visibility display device CL2 moves while vibrating to some extent. It happens.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the drawings.

FIG. 2 shows a configuration diagram of a driving simulator according to an embodiment of the present invention.

In this embodiment, the simulated driver's seat CL1 is constituted by a simulator operating section 1 including a steering wheel, an accelerator pedal, a brake pedal, and the like. The visual field display device CL2 includes a projector 13 and a screen 15. The simulated visual field generating device CL3 is composed of a visual computer 5 and an image processor 11.

On the other hand, in the embodiment of the present invention, a variation adding circuit 9 is connected between the visual computer 5 and the mobile object control console 7 as a variation component adding means CL4. This variation adding circuit 9 adds a random variation component to the moving body position data inputted from the moving body control console 7 and inputs the data to the visual computer 5 .

Next, the operation of the above embodiment will be explained.

When the driver operates the simulator operation section 1, an operation signal is input to the host computer 3.

The host computer 3 calculates the movement, position, direction, etc. of the vehicle being simulated by the driver (hereinafter referred to as the own vehicle) based on the operation signals, and sends the calculation results to the visual computer 5. Output.

On the other hand, the mobile object control console 7
Signals such as the position and speed of a moving object such as a preceding vehicle or an oncoming vehicle other than the own vehicle are input to a fluctuation adding circuit 17, and this fluctuation adding circuit 17 calculates the position, speed, etc. of the moving object, such as a preceding vehicle or an oncoming vehicle.
Processing is performed to add random fluctuation components to each signal such as speed, and the data signal is output to the visual computer 5.

The visual computer 5 synthesizes the data signal inputted from the variation addition circuit 17 with data of information stored in the visual computer 5, such as roads and surrounding conditions. Then, data whose viewpoint is the vehicle position input from the host computer 3 is outputted from the composite data.

In this way, the visual computer 5
The data output from the image processor 11 is inputted to the image processor 11, an image is created based on this data, and is projected onto the screen 15 by the projector 13 in the same manner as described above.

Therefore, the oncoming vehicle or the like on the screen 15 moves while vibrating, making it appear closer to the actual driving state.

FIG. 3 shows a flowchart of the variation adding process in the variation adding circuit.

[0023] This flowchart is executed when the own vehicle starts traveling.

First, in step S1, a random number R1 (0 to 1) for the case where no vibration is applied is generated, and in step S2, the fluctuation generation timing tR by the random number R1 is set to a random timing (2 to 7 seconds). For example, random number R1
When is 0, the fluctuation occurrence timing tR is 2 seconds, and the random number R
When 1 is 1, the fluctuation occurrence timing tR is 7 seconds. This fluctuation generation timing tR is intended to add a vibration component to a moving object such as an oncoming vehicle after the timing tR.

Therefore, in step S3, the cycle time tS of the control processing cycle is set to 0.02 seconds and subtracted from the timing tR, and in step S4, the cycle time tS of the control processing cycle is subtracted from the timing tR.
It is determined whether or not the fluctuation occurrence timing tR determined in step 2 has become 0. If the fluctuation occurrence timing tR is not 0, the process moves to step S5, and the position data Zi input from the mobile object control console 13 is
n, that is, the current position of a moving object such as a preceding vehicle or an oncoming vehicle on the screen 17 is directly converted into position data Zou.
t and output in step S6. Such processing of steps S3 to S6 is continued until the fluctuation occurrence timing tR becomes 0. Therefore, during this period, the moving body moves without vibration.

[0026] When the fluctuation occurrence timing tR becomes 0,
The process moves to step S7, where the current time t is stored as t0, and in step 8, the current time t and the previously stored time t are stored.
0 (t-t0) is used as a reference for the period when vibration is applied.

Next, in step S9, a random number R2 (0 to 1) for applying vibration is generated, and in step S10, position data Zout of the moving body to be output is calculated using the following equation 1.

[0028] Zout ←Zin+v/5・R2 e−T/2・Si
nωT Here, v is the traveling speed ω of the own vehicle, which is a constant determined by the characteristics of a moving object such as a large vehicle or a small vehicle. Further, τ is also determined depending on the characteristics.

Then, in step S11, Zout is output.

Next, in step S12, it is determined whether or not to continue applying vibration depending on whether T>2τ. That is, if T>2τ is not the case, the process moves to step S10 to continue applying vibration, and if T>2τ, the vibration is stopped.

As described above, according to the driving simulator of the present invention, the fluctuation adding circuit 9 adds random fluctuation components to the position data of moving objects such as preceding vehicles and oncoming vehicles output from the moving object control console 7. By adding this, the moving object projected on the screen 17 can approximate the actual running state. Therefore, it is possible to reliably judge whether an oncoming vehicle or the like is traveling, and the driver does not feel any discomfort.

[0032]

Effects of the Invention As is clear from the above description, the driving simulator of the present invention can approximate the actual driving state of the moving object projected on the screen, suppressing the sense of discomfort, and It is also easy to determine whether or not the object is moving.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of the present invention.

FIG. 2 is a configuration diagram of a driving simulator.

FIG. 3 is a flowchart showing the operation of the variation adding circuit.

FIG. 4 is a configuration diagram of a conventional driving simulator.

[Explanation of symbols]

CL1 Simulated driver's seat CL2 Visibility display device CL3 Simulated visibility generator CL4 Variation component addition means

Claims (1)

[Claims] 1. A visibility display device that displays a simulated visibility to a driver seated in a simulated driver's seat, and a simulated visibility generation device that creates a simulated visibility from driving information and environmental information from the simulated driving and issues a command to the visibility display device. What is claimed is: 1. A driving simulator comprising: a driving simulator comprising: a device for adding a random fluctuation component to position data of a moving object in the environmental information;