JPH0746940Y2 - Car driving simulator - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a vehicle driving simulator, and in particular, a simulation experiment for vehicle driving training, development and design of various vehicle driving devices. The present invention relates to an automobile driving simulator which is preferably used for the above.

[Prior Art] FIG. 6 is a schematic configuration diagram showing an example of a conventional vehicle driving simulator of this type. In FIG. 6, a screen (2) is arranged in front of the simulated car (1), and a car is used to drive the road by using a suitable video projector (3) on the screen (2). A simulated image representing the surrounding scene including the front of the automobile when traveling is enlarged and projected. The simulation electronics (4) is composed of a computer section having various calculation functions and a required onomatopoeia generation function section. For example, the speed of the vehicle according to the driving operation of the driver of the simulated vehicle (1), A computer for calculating a turning angular velocity and the like, an electronic circuit unit for generating an onomatopoeic sound when the automobile runs, and the like are housed. Also, a simulated visual field image generator (5)
Is for generating a simulated image video showing a surrounding scene including the front of the vehicle when the vehicle is traveling. For example, a predetermined shape or color of a road on which the vehicle is traveling or the surrounding terrain, a feature, etc. Based on the database of
By performing digital processing corresponding to simulated driving of an automobile, a simulated image related to the automobile traveling on a road is generated in real time.

FIG. 7 is a functional schematic configuration diagram for explaining the operation of the above-mentioned conventional example. First, the simulated vehicle (1) is a vehicle from which an engine and a steering mechanism are removed, and a steering load device (not shown) is attached to a handle shaft thereof, and neither of them is an accelerator pedal. ,
The brake pedal and the clutch pedal are each provided with a sensor for detecting the amount of depression. As described above, the simulation electronics (4) is a computer that calculates the vehicle speed, turning angular velocity, and the like in accordance with the driving operation of the driver of the simulated vehicle (1), and an electronic circuit that generates a simulated sound when the vehicle is running. And so on. Then, the vehicle speed and the engine speed obtained here are instructed to the speedometer and the tachometer (neither is shown) of the simulated vehicle (1). The simulated visual field image generation device (5) generates a simulated image video showing a peripheral scene including a front side of a vehicle when the vehicle is traveling, and includes a road on which the vehicle is traveling and the terrain and features around the vehicle. By performing digital processing corresponding to the simulated driving of the car based on a predetermined database regarding the shape and color of the car, a related simulated image when the car runs on the road is generated in real time.

FIG. 8 is a block diagram showing a schematic configuration of another conventional example of this type of vehicle driving simulator. In FIG. 8, a plurality of video projectors are provided, but here, one provided with three video projectors is illustrated. That is, in addition to the central video projector (3), a left video projector (3L) and a right video projector (3R) are provided,
Correspondingly, a center screen (2), a left screen (2L) and a right screen (2R) are provided. With such a configuration, a wide-angle, so-called panoramic simulation image is displayed in front of the automobile.

By the way, in such a conventional car driving simulator, only a video projector for enlarging and projecting a simulated image in a wide viewing angle is used. For example, when a driver of a car views a simulated image on a screen. ,
A road driving simulation image based on a visual angle of about 40 degrees wide × 30 degrees vertical is appropriately enlarged and projected. For this reason, a simulation image representing a relatively distant scene displayed on the screen is displayed. The resolution of the vehicle becomes extremely poor, and it becomes indistinct enough to be seen when the driver's eyesight is at most 0.3. Therefore, even a distant road display or various signs that the driver can sufficiently see when actually driving the vehicle will not be displayed on the screen surface of the vehicle driving simulator. Thus, in addition to the extremely difficult execution of the simulated driving by such a car driving simulator, the driver's fatigue and discomfort increase, and the expected operational effects of this car driving simulator cannot be obtained. I will end up.

[Problems to be Solved by the Invention] The conventional vehicle driving simulator has the configuration as described above and operates. However, in this conventional example, since a simulated image within a wide viewing angle is enlarged and projected. Since only the video projector of the above is used and the road driving simulation image based on a certain fixed viewing angle is enlarged and projected on the screen, the image showing the relatively distant scene displayed on the screen. Is extremely poor in resolution, and as a result, only a very blurred road driving simulation image is displayed. Therefore, it is extremely difficult for the driver to carry out the simulated driving, and the driver's fatigue and discomfort increase, so that the expected operational effects of this car driving simulator cannot be obtained. It was

The present invention has been made to solve the above-mentioned problems, and is provided with # 1 and # 2 simulated visual field image generating devices and # 1 and # 2 video projectors corresponding to them. , The above-mentioned # 1 simulated visual field image generation device represents a peripheral image including a front part within a wide visual angle when traveling on a predetermined road, and a simulated image in which a central portion thereof has a rectangular dark portion The simulated image within a narrower viewing angle generated by the # 2 simulated field-of-view image generation device is fitted into the dark portion, so that the simulated image representing a relatively distant scene becomes clear. It is an object of the present invention to obtain a car driving simulator that can be seen and can exhibit a desired operation effect without causing driver fatigue or discomfort.

[Means for Solving the Problems] A vehicle driving simulator according to the present invention is a simulated vehicle; simulation electronics including a computer that executes a calculation relating to the simulated motion in response to a driving operation of a driver of the simulated vehicle; Using the data calculated for the simulated motion of the simulated vehicle, it represents a peripheral scene including the front in a wide viewing angle when traveling on a certain predetermined road, and the central part thereof has a rectangular dark part. # 1 simulated field-of-view image generating device for generating the simulated image described above; using the data calculated with respect to the simulated motion of the simulated vehicle, in the surrounding scene including the front when traveling on the predetermined road, # 2 simulated field-of-view image generation device for generating a simulated image representing a scene in the front and distance within a narrow viewing angle; A # 1 video projector for enlarging and projecting a simulated image within a wide viewing angle generated by the device; a # 2 video projector for enlarging and projecting a simulated image within a narrower viewing angle generated by the # 2 simulated view image generating device; and , A screen arranged in front of the above-mentioned simulated vehicle;

[Operation] According to the present invention, on the screen arranged in front of the automobile, the predetermined shape formed in the central portion of the simulated image within the wide viewing angle, which is generated by the # 1 simulated visual field image generation device, is formed. A simulated image within a narrower viewing angle generated by the # 2 simulated field-of-view image generator is fitted into the dark portion.

[Embodiment] FIG. 1 is a schematic configuration diagram showing a vehicle driving simulator which is an embodiment of the present invention. In FIG. 1,
Reference numerals (1) to (5) are the same as those constituting the above-mentioned conventional example. That is,
(1) is a simulated car, (2) is a screen, (3) is #
1 is a video projector, (4) is simulation electronics, and (5) is a # 1 simulated view image generator. Further, (3A) is a # 2 video projector, and (5A) is a # 2 simulated visual field image generation device. The section (2A) in the screen (2) will be described later.

FIG. 2 is a display example of a simulated image on the screen in the above embodiment. FIG. 2 (A) in this FIG.
Is a simulated image projected from the # 1 video projector (3) on the screen (2), and an object included in this is, for example, a road (2
2), the central line (23) of the road (22), the road (22)
(24), the horizon (25) far in front of the car, and the mountainous area (26). Also, as will be described later, it is assumed that a blackboard of a certain prescribed size is fixedly placed at a predetermined distance from the car, so the so-called "blackboard cover section (2A)" is dark. Parts are formed. The reference numeral (21) indicates the scanning line density when the simulated image is projected from the # 1 video projector (3). Then, FIG. 2B in FIG. 2 is a simulated image of the front and distance of the car projected from the # 2 video projector (3A) on the blackboard covering section (2A) on the screen (2). The objects included in this are, for example, the road (22) on which the vehicle is traveling, the center line (23) of the reason (22), the planting (24) on the side of the road (22), and the bus.・ Stop signs (27) and traffic signs (28) that indicate the direction of travel of the vehicle. Reference numeral (21A) is an example of the scanning line density when the simulated image is projected from the # 2 video projector (3A).

As can be seen from this FIG. 2, the simulated image projected on the screen (2) by the # 1 video projector (3) is scanned with a relatively coarse density scan line as indicated by reference numeral (21). However, the simulated image projected by the # 2 video projector (3A) so as to fit into the blackboard covering section (2A) of the screen (2) is scanned with a scanning line with a relatively fine density as shown by reference numeral (21A). Will be done.

FIG. 3 is a functional schematic configuration diagram for explaining the operation of the above embodiment. Also in FIG. 3, as in the case of the conventional example, the simulated vehicle (1) is a vehicle from which the engine and the steering mechanism have been removed, and the steering shaft has a steering load device attached thereto. The accelerator pedal, the brake pedal, and the clutch pedal, which are not shown, are provided with sensors for detecting the respective depression amounts. The simulation electronics (4) is equipped with a computer that calculates the vehicle speed, turning angular velocity, etc. according to the driving operation of the driver of the simulated vehicle (1), and an electronic circuit that produces a pseudo-noise when the vehicle is running. is there. Then, the vehicle speed and the engine speed obtained here are instructed to the speedometer and the tachometer of the simulated vehicle (1). The # 1 simulated field-of-view image generator (5) displays a simulated image representing a peripheral scene including the front of the vehicle when the vehicle travels, and includes the road on which the vehicle travels and the terrain and ground around it. By performing digital processing corresponding to simulated driving of an automobile based on a predetermined database regarding shapes and colors of objects, a simulated image video related to the automobile traveling on a road is generated in real time.

By the way, in this digital processing, it is assumed that a blackboard of a certain prescribed size is fixedly arranged at a predetermined distance from the automobile. Therefore, no matter how the car moves, the blackboard is always fixedly placed on the front surface of the car, and represents the surrounding scene including the front part of the car other than the blackboard part. A simulated image will be generated. Then, the section (2A) in the screen (2) is covered with this blackboard portion to form a dark portion, but this section (2A) will be referred to as "blackboard covering section" for convenience. .

Next, the # 2 simulated field-of-view image generating device (5A) is for generating a simulated image in the far front of the simulated vehicle (1) at a narrower viewing angle than the # 1 simulated field-of-view image generating device (5) described above. belongs to. Then, the # 2 simulated field-of-view image generator (5A) further performs the required processing on the intermediate calculation result of the # 1 simulated field-of-view image generator (5). Based on the result obtained by performing the required processing, the simulated image at the narrow viewing angle described above is fitted to the blackboard covering section (2A) of the screen (2) through the # 2 video projector (3A). The image is projected so as to be embedded. The focal length of the image projection lens used in the # 2 video projector (3A) is set to be about twice the focal length of the projection lens in the # 1 video projector (3) as a near-view image projection video projector. There is.

The following FIG. 4 is incorporated in the above embodiment #
1 is a block diagram mainly showing the configuration of # 1 and # 2 simulated visual field image generation devices (5) and (5A). In FIG. 4, what constitutes the # 1 simulated field-of-view image generation device (5) is a memory (50), a field-of-view computer (51), and a # 1 geometrical computer (5).
2) and # 1 video generator (53), and also # 2
The simulated field-of-view image generator (5A) comprises a # 2 geometric computer (54) and a # 2 video generator (55).

Here, the data base stored in the memory (50) has as its contents data relating to the road on which the vehicle is simulated, the topography around the road, the shape and color of the features.

What is executed in the visibility calculator (51) is that the data regarding the speed and turning angular velocity of the vehicle is received from the simulation electronics (4) to perform the arithmetic processing regarding the position and orientation of the vehicle, and the memory (50).
The matrix required for the geometric calculation for obtaining the simulated image of the scene including the front of the automobile and its surroundings is obtained based on the database stored in the above.

The # 1 geometrical computer (52) looks like a window with a width of about 40 degrees and a length of about 30 degrees (corresponding to the size of the screen (2)) using the matrix obtained as described above. The screen of the simulated image is created by digitally processing the contents of the database. At this time, as described above, it is assumed that a blackboard of a certain prescribed size is fixedly arranged at a predetermined distance from the automobile. Therefore, at a certain distance in front of the vehicle, for example, it looks like a size of about 20 degrees in width X about 15 degrees in length (corresponding to the size of the blackboard covering section (2A) in the screen (2)). Create a screen assuming that a blackboard exists.

What is executed in the # 1 video generator (53) is to generate a simulated image according to the scanning of the screen created as described above. The simulated image thus generated is projected in a predetermined size on the screen (2) via the # 1 video projector (3).

In addition, the # 2 simulated field-of-view image generating device (5A) is configured # 2.
What is executed in the geometrical computer (54) is the (screen (2)
(Corresponding to the size of the blackboard cover category (2A) in)
The screen of the simulated image that looks like a window of 20 degrees X about 15 degrees vertically is # 1
It is to create in synchronization with the drawing of the geometric calculation device (52).

Then, in the # 2 video generator (55) which also constitutes the # 2 simulated visual field image generating device (5A),
This is to generate a simulated image according to the scanning of the screen created as described above. The simulated image generated in this way is transmitted via the # 2 video projector (3A).
It is projected so as to fit into the blackboard covering section (2A) of the screen (2).

At this time, the number of pixels for the simulated image generation in the # 1, # 2 simulated visual field image generators (5) and (5A), and the # 1, # 2 video projectors (3) and (3A)
Since the number of scan lines in each is the same,
The image is drawn by the 2 simulated visual field image generating device (5A) and projected by the # 2 video projector (3A) so as to fit into the blackboard covering section (2A) of the screen (2).
The pixel area for the simulated image representing the scene in the front and the distance of the car is about 1 / the pixel area for the simulated image in the near view of the car projected on the screen (2) by the # 1 video projector (3). It becomes 4. Then, as illustrated in FIG. 2, the simulated image projected on the screen (2) by the # 1 video projector (3) is scanned with a relatively coarse density as shown by reference numeral (21). The simulated image, which is scanned with lines, is projected by the # 2 video projector (3A) so as to fit into the blackboard covering section (2A) of the screen (2).
Scanning is performed with a scanning line having a relatively fine density as indicated by reference numeral (21A). Thus, the driver of the automobile simulator according to the embodiment of the present invention can clearly see not only the image showing the near view of the automobile but also the image showing the far view thereof.

FIG. 5 is a block diagram showing a schematic configuration of a vehicle driving simulator according to another embodiment of the present invention. This fifth
In the figure, three # 1 video projectors are provided. That is, in addition to the central video projector (3), a left video projector (3L) and a right video projector (3R) are provided, and correspondingly, a central screen (2) is provided. , A left screen (2L) and a right screen (2R) are provided. With such a configuration, a wide-angle so-called panoramic simulation image can be displayed in front of the vehicle, and the driver of the vehicle simulator according to another embodiment of the present invention can see the near view. In addition to the image representing the scene at, the image representing the scene at that distance can be clearly seen.

[Effect of the Invention] As described above, the vehicle simulator according to the present invention is a simulated vehicle; a simulation including a computer that executes a calculation regarding the simulated motion in response to a driving operation of the driver of the simulated vehicle. Electronics: Using the data calculated for the simulated motion of the above-mentioned simulated vehicle, represents a peripheral scene including the front within a wide viewing angle when traveling on a certain predetermined road, and darkens the central part in a rectangular shape. # 1 simulated field-of-view image generator that generates a simulated image of a part of the scene; in the surrounding scene including the front when traveling on the predetermined road, using the data calculated for the simulated motion of the simulated vehicle , A # 2 simulated field-of-view image generating device for generating a simulated image representing a scene in the front and distance within a narrower viewing angle; # 1 video projector for enlarging and projecting a simulated image within a wide viewing angle generated by the generator; # 2 video projector for enlarging and projecting a simulated image within a narrower viewing angle generated by the # 2 simulated field of view image generating device; And a screen arranged in front of the simulated vehicle; in the screen, the # 1 simulated field-of-view image generating device allows the front within a wide viewing angle when traveling on a predetermined road. , A central portion of the simulated image having a rectangular dark portion is generated, and the simulated image within a narrower viewing angle generated by the # 2 simulated visual field image generation device is used as the dark image. Since it is displayed so that it fits into the part, the road driving simulation image given to the driver of the car driving simulator The relatively resolution of the simulated image representing a distant scene becomes the improved is that about two times that of the conventional resolution of this type of device. As a result, distant road displays and signs can be seen clearly, and it becomes possible to simulate the actual driving of a car, and the operational performance of the simulator, such as simulation experiments and driving training related to car driving, can be greatly improved. The effect that it can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a vehicle driving simulator according to an embodiment of the present invention, and FIG. 2 is a display example of a simulated image displayed on a screen in the above embodiment,
FIG. 3 is a functional block diagram for explaining the operation of the above embodiment, FIG. 4 is a block diagram showing a simulated visual field image generating device portion in the above embodiment, and FIG. 6 is a block diagram showing a schematic configuration of a vehicle driving simulator according to the embodiment of the present invention. FIG. 6 is a block diagram showing a schematic configuration of a conventional example of a vehicle driving simulator of this type.
FIG. 8 is a functional block diagram for explaining the operation of the conventional example, and FIG. 8 is a block diagram showing a schematic configuration of another conventional example of this type of vehicle driving simulator. (1) is a simulated car, (2) is a screen, (3),
(3A) is a video projector, (4) is simulation electronics, (5) and (5A) are simulated visual field image generators. In the drawings, parts designated by the same reference numerals indicate the same or corresponding parts.

Claims (2)

[Scope of utility model registration request] 1. A simulated vehicle; a simulation electronics including a computer that executes a calculation regarding a simulated motion corresponding to a driving operation of a driver of the simulated vehicle; using data calculated regarding a simulated motion of the simulated vehicle. # 1 simulated field-of-view image generation apparatus that generates a simulated image that represents a peripheral scene including the front within a wide viewing angle when traveling on a predetermined road, and that has a central portion with a rectangular dark portion A simulated image showing a scene at a far front in a narrower viewing angle in a peripheral scene including a front area when traveling on the predetermined road, using the data calculated regarding the simulated motion of the simulated vehicle. # 2 simulated field-of-view image generating device for generating a projection image of a simulated image within a wide viewing angle generated by the # 1 simulated field-of-view image generating device. # 1 video projector; # 2 video projector for enlarging and projecting a simulated image within a narrower viewing angle generated by the # 2 simulated visual field image generation device; and a screen arranged in front of the simulated vehicle. The vehicle driving simulator is as follows: The # 2 simulated visual field image generation device for the dark portion in the simulated image within the wide viewing angle generated by the # 1 simulated visual field image generation device on the screen. An automobile driving simulator characterized by fitting a simulated image within a narrower viewing angle generated by the above. 2. The vehicle driving simulator according to claim 1, wherein a plurality of the # 1 video projectors are provided.