JPH11272158A - Road traffic system evaluation simulation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simulate mutual relations of roads, people, and vehicles in various road and traffic environments in real time by allowing a three-dimensional display generating means to integrate and display peripheral vehicle, driven vehicle, and road infrastructure operations generated by respective generating means. SOLUTION: A three-dimensional computer graphics (3D-CG) display means (a) gives a virtual visual field to an operator. A driven vehicle generating means (b) generates the operation of the vehicle (driven vehicle) that the operator drives. A peripheral vehicle generating means (c) generates the operation of a vehicle (peripheral vehicle) other than the driven vehicle. A road infrastructure facility operation generating means (d) generates the operations of various systems operating on road infrastructure. An execution managing means (e) controls the operations of the respective means (a) to (d). Then the 3D-CG display means (a) integrates and displays the peripheral vehicle, driven vehicle, and road infrastructure operations. Data bases that the respective means (a) to (d) use are generated from one detailed three-dimensional road data base.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to road equipment, vehicles,
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road traffic system evaluation simulation device that simulates the relationship between road traffic in real time.

[0002]

2. Description of the Related Art In a road traffic system, efforts are being made to mitigate problems such as traffic congestion, traffic accidents, and the environment by using a new system integrating roads, people, and vehicles by using information and communication technology. It is common practice to design, develop and evaluate road transport systems by simulation, avoid the dangers associated with field tests, reduce costs and increase development efficiency.

In a conventional road traffic simulation,
It has been developed for evaluation and verification of traffic control systems such as traffic signal systems and evaluation and verification of route guidance systems.

Further, many driving simulators for car design and driving license training and game racing games have been developed to simulate driving of a car.

[0005]

In the conventional road traffic simulator, which is used by a traffic manager or a developer of a traffic system, it is necessary to execute a simulation of a driving operation or obtain a three-dimensional image from a viewpoint of the driver. It was not expressible. Further, since the driving simulator is mainly intended to reproduce the driving situation of the automobile and the dynamic characteristics of the vehicle, the driving simulator does not have a function of simulating the operation of the road facility or the mutual relation. Furthermore, it did not have a function of simulating interaction with surrounding vehicles. For example, in the conventional road traffic simulator alone, the operator only controls the simulation and cannot exist in the simulation. For this reason, the interaction between vehicles and roads and vehicles can be simulated to some extent, but the interaction between people and vehicles and between people and roads cannot be simulated. Further, the conventional driving simulator alone has a problem in that it is not possible to simulate the interaction between vehicles or between roads and vehicles because there is no surrounding traffic or road facilities.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a real-time road traffic simulation system that simulates the relationship between roads, people, and vehicles under various road and traffic environments. It is to obtain a system evaluation simulation device.

[0007]

According to a first aspect of the present invention, there is provided a road traffic system evaluation simulation apparatus comprising a vehicle generated by a peripheral vehicle generating unit, a driving vehicle generated by a driving vehicle generating unit, and a road infrastructure facility operating unit. The controlled road infrastructure operation is integratedly displayed by the three-dimensional display generation means.

Further, in the road traffic system evaluation simulation device according to the second configuration of the present invention, the three-dimensional computer graphics display generation unit, the driving vehicle generation unit, the peripheral vehicle generation unit, the operation of the road infrastructure equipment are provided in the first configuration. The database used in each of the generating means is generated from one detailed three-dimensional road database.

Further, the road traffic system evaluation simulation apparatus according to the third configuration of the present invention comprises the first or second road traffic system evaluation simulation apparatus.
In the configuration of the above, the peripheral vehicle generating means recognizes the driving vehicle position generated by the driving vehicle generating means, and the vehicle generated by the peripheral vehicle generating means and the driving vehicle generated by the driving vehicle generating means interact with each other. is there.

The road traffic system evaluation simulation device according to the fourth configuration of the present invention is the first or second embodiment.
In this configuration, the road infrastructure equipment, the surrounding vehicles, and the driving vehicles interact with each other.

The road traffic system evaluation simulation device according to the fifth configuration of the present invention, in the third configuration, simulates a road-to-vehicle communication unit or a vehicle-to-vehicle communication unit that simulates communication between a road infrastructure facility and a vehicle. The vehicle has a vehicle-to-vehicle communication unit, and the interaction between the vehicle generated by the peripheral vehicle travel generation unit and the driving vehicle generated by the driving vehicle generation unit is performed via the road-to-vehicle communication unit or the vehicle-to-vehicle communication unit.

According to a sixth aspect of the present invention, there is provided a road traffic system evaluation simulation apparatus according to any one of the first to fourth aspects, wherein the peripheral vehicle generating means generates a two-dimensional position of the vehicle and converts the generated two-dimensional position into a three-dimensional position. It is converted to a position.

Further, the road traffic system evaluation simulation device according to the seventh configuration of the present invention, in any one of the first to sixth configurations, includes a simulation management / data conversion unit that manages execution of simulation and data conversion. It is a thing.

The road traffic system evaluation simulation device according to the eighth configuration of the present invention, in the seventh configuration, interpolates the peripheral vehicle information and the driving vehicle information obtained by the peripheral vehicle generating means and the driving vehicle generating means. By performing the processing, temporal consistency of the vehicle information is obtained.

Further, the road traffic system evaluation simulation device according to the ninth configuration of the present invention comprises the first or second road traffic system evaluation simulation device.
In the above configuration, the in-vehicle information terminal device is provided in the driving vehicle behavior generation unit, and a mechanism is provided for providing the operator with various information supplied from the road infrastructure or the vehicle by screen display or voice.

Further, in the road traffic system evaluation simulation device according to the tenth configuration of the present invention, in the first or second configuration, various weather conditions and road surface conditions such as rain, snow, freezing, and fog are generated, and The display and the vehicle simulation are performed according to the generated conditions.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 The configuration of the road traffic system evaluation simulation device according to the present invention is shown in the claim correspondence diagram of FIG. 3D-CG (three-dimensional computer graphics) display means a gives a virtual view to an operator (driver). The driving vehicle generation means b generates an operation of the vehicle operated by the operator. Hereinafter, this vehicle is referred to as a driving vehicle. The peripheral vehicle generating means c generates an operation of a vehicle other than the driving vehicle. Hereinafter, these vehicles are called peripheral vehicles. The road infrastructure facility operation generating means d generates operations of various systems operating on the road infrastructure. The execution management means e controls the operation of each of the means a to d.

Next, FIG. 2 shows one configuration of an embodiment of a road traffic system evaluation simulation apparatus according to the present invention. In the figure, solid arrows represent actual data inputs such as vehicle information, road information, and vehicle control inputs, and broken arrows represent simulation control inputs for notifying execution timing.

In FIG. 1, reference numeral 10 denotes the vehicle data generated by the data converter 52 and the display road database 1.
1 is a 3D-CG video signal generation unit that generates a 3D-CG video signal, and 12 is a 3D-CG display device that displays the 3D-CG generated by the 3D-CG video generation unit 10. The above 10, 11, and 12 realize 3D-CG display means.

Reference numeral 20 denotes a driving operation device, which is provided with a general vehicle control input device such as a steer / accelerator / brake, and which continuously outputs position information of the steer / accelerator / brake as an analog signal as an analog signal. 21,
It comprises an in-vehicle information terminal device 22 that provides navigation information and the like to the operator. Reference numeral 23 denotes an A / D (analog / digital) converter for converting an analog signal output by the vehicle control input device 21 into a digital signal, and reference numeral 24 denotes a road database used in the simulation. Further, reference numeral 25 denotes a vehicle dynamics simulation device, which receives a digital signal such as steer / accelerator / brake output from the A / D converter 22 and road information (gradient information, etc.) of the road database 24 as inputs and is operated by an operator. It generates the actual behavior of the vehicle, and outputs the position, speed, and acceleration of the vehicle (hereinafter, driving vehicle information). Reference numeral 26 denotes a driving vehicle information storage device for temporarily storing an output result of the vehicle dynamics simulation device 25. 20 above
(21, 22), 23, 24, 25, 26 realize a driving vehicle generation unit.

Reference numeral 30 denotes a road traffic simulator, which has a road traffic database 31 and driving vehicle information as inputs, simulates the behavior of all the peripheral vehicles in a traffic environment where the driving vehicle exists, and determines the position of the peripheral vehicles. ·speed·
It outputs acceleration (hereinafter, peripheral vehicle information). Reference numeral 32 denotes a peripheral vehicle information storage device that extracts only data within the visible range of the operator from the output of the road traffic simulator 30 and temporarily stores the extracted data. The above 30, 31, and 32 realize the peripheral vehicle generation device.

Reference numeral 40 denotes a traffic input unit for inputting peripheral vehicle information and driving vehicle information and the like, and reference numeral 41 denotes an environment input unit for weather and road surface conditions. Reference numeral 42 denotes a road infrastructure equipment operation simulation unit which simulates road infrastructure equipment operation based on various information input from the traffic input unit 40 and the environment input unit 41, and outputs the control information to the vehicle and the output to a certain vehicle. It is information on surrounding traffic and the environment. 40, 41, 42 above
Implements road infrastructure facility operation generation means.

Reference numeral 50 denotes an internal timer, which manages the simulation time in accordance with the drawing timing of the 3D-CG video signal generator 10, collects each simulation result, and displays 3D-CG display means, peripheral vehicle generation means, and driving vehicle generation. A simulation control unit that supplies necessary data and control information to the means. 51 is a simulation controller 5
Numeral 0 is a simulation result storage device for temporarily storing collected simulation results. Reference numeral 52 denotes an interpolation processing unit that generates vehicle data corresponding to the drawing timing by interpolation using the contents of the simulation result storage device and the simulation time supplied by the simulation control unit. 53 is each simulator and 3D-C
When the data type of the vehicle information used in the G video signal generation device is different, the data conversion unit performs data conversion according to the information supply destination device. Reference numeral 54 denotes a data conversion database used by the data conversion unit 53 for data conversion. Reference numeral 55 denotes a display data storage device for temporarily storing display vehicle data created by the data converter. A driving vehicle information storage device 56 stores driving vehicle information converted into a data type used in the road traffic simulator. The devices 50 to 56 implement the execution management means.

FIGS. 3, 4, 5, 8, and 9 are flow charts showing the operation of the devices constituting each means of the road traffic system evaluation simulation device according to this embodiment. Hereinafter, the operation of each means will be described. In each flowchart, a solid line represents a control flow, and a dotted line represents a data flow. Also, each device in this embodiment is mounted on a separate computer, performs distributed processing,
Although data exchange between devices is performed by data communication, the present invention can be realized even when a shared memory type parallel computer or the like is used.

FIG. 3 shows a 3D-CG in this embodiment.
6 is a flowchart of a program for realizing a display unit, the program being a 3D-CG video signal generation device 12;
Run on After the program is started in Step 101, a control signal is supplied to the simulation control unit 50 of the execution management unit in Step 102. This serves to inform the simulation control unit 50 of the drawing timing, and the simulation control unit responds to this control signal by outputting the drawing data stored in the display data storage device 54 to the 3D-CG video signal generation device. A reply is made (corresponding to Step 506 in FIG. 9). In Step 103 subsequent to Step 102, before receiving the drawing data, Step 1 is performed using the vehicle data acquired in the previous Step 104 and the data of the display road database 11.
At 03, a video signal generation process is performed. After the process in Step 103, in Step 104, a process of collecting drawing data corresponding to the return of the control signal supply in Step 102 is performed. Since then
The processing from Step 102 to Step 104 is repeated. By sandwiching the video signal generation processing of Step 103 between the supply of the control signal in Step 102 and the collection processing of Step 104, it is possible to prevent a decrease in the drawing processing speed caused by the time required for data collection, thereby enabling high-speed display. it can.

FIG. 4 is a flowchart of a program for realizing the driving vehicle generating means in this embodiment.
First, when the program is started in Step 201, St
At ep202, it is checked whether there is a control input from the simulation control unit 50, and if there is a control input, the contents of the driving vehicle information storage device are supplied to the data conversion unit of the execution management unit e (Step 203). If not, the process of Step 203 is skipped and the process proceeds to Step 204. In Step 204 to Step 206, input information necessary for the vehicle dynamics simulation is collected. Ste
In p204, a control signal obtained by converting an analog signal indicating the position of the steering accelerator / brake output from the driving operation device 20 into a digital signal by the A / D converter 22 is collected. In Step 205, road information such as gradient information is acquired from the road database 24. In Step 206,
The output result of the road infrastructure equipment operation simulation unit 44 is collected. This information includes, for example, vehicle control information such as steer, accelerator, and brake when performing a simulation of automatic driving, and a friction coefficient of a road in consideration of weather when simulating weather conditions. . In Step 207, Steps 204 and 20
The vehicle dynamics simulation is performed using the information obtained in steps 5 and 206 as input, and the result is stored in the driving vehicle information storage device 2.
8 is stored. The simulation device used here is a device using a computer technology well known in the art, and is a simulation device in consideration of a vehicle motion system, a braking / driving system, and inputs a steering angle, a brake pressure, and a throttle opening. Have as. Step2
The processes from 02 to 207 are repeatedly executed.

FIG. 5 is a flowchart of a program for realizing the peripheral vehicle generation means in this embodiment.
First, when the program is started in Step 301, St
In ep302, the driving vehicle information storage device 55 of the execution management means
And wait until the latest driving vehicle information stored in is supplied. The input of the driving vehicle information has the same function as the control input from the execution management unit to the driving vehicle generation unit, and plays a role of notifying the timing of collecting the simulation result. After obtaining the driving vehicle information, the peripheral vehicle information stored in the peripheral vehicle information storage device 32 is input to the simulation result storage device 51 in Step 303. Step3
In 04, the road infrastructure equipment operation simulation unit 44
Collect the output results of In Step 305, Step 3
A road traffic simulation is performed using the information obtained in steps 03 and 304 and the road traffic database 31 as inputs. The road traffic simulation device used in this embodiment is a simulation device having the features described in Japanese Patent Application Laid-Open No. 7-129882. In Step 306, Step 3
05 of the simulation results obtained by
Using the driving vehicle information obtained in step 303, only vehicles within the driver's visible range are extracted and stored in the peripheral vehicle information storage device 32. Thereafter, steps 302 to 306 are repeated. The vehicle information stored in the peripheral vehicle information storage device 32 is transmitted to the
It is supplied to the D-CG display means a. By storing only the vehicles within the driver's field of view, the number of vehicles to be drawn can be reduced, and the time required for data collection can be shortened. Thereby, the drawing speed can be kept high.

In general, since a road traffic simulation deals with a discrete decrease, a fixed value is used for the simulation cycle. The simulation step width used in the calculation in this embodiment is 100 msec, but the time required for the actual simulation is not 100 msec. Therefore, in order to perform the real-time simulation, only the case where the actual time required for the simulation is shorter than 100 msec is handled,
It is necessary to suspend the execution of the simulation until 0 msec. In this embodiment, this operation is realized by waiting for input of driving vehicle information in Step 302, and time management is performed by the execution management unit.

A specific example of Step 305 will be described. FIG.
5 is a flowchart illustrating the operation of a vehicle running model of one simulation clock in a vehicle running state simulation. First, in Step 801, one obstacle (including a traveling vehicle) ahead of the traveling lane is recognized.
Next, in Step 802, a lane change determination is made based on the surrounding situation and its own motive. The motivation for changing lanes is
In order to comply with the traveling direction, reduce the number of lanes, avoid a parked vehicle, drive faster, etc.

FIG. 7 is an explanatory diagram showing acceleration / deceleration and stop determination in Step 803. Acceleration / according to relative distance l _r to virtual forward obstacle, speed v and target speed v _r
A travel pattern is selected from deceleration / speed maintenance / stop according to FIG. Here, D _k , D _d , and D _s are represented by Expressions 1 to 3.

[0031]

(Equation 1)

Where k ₁ , k ₂ , k ₃ , k ₄ , k ₅ , k _f ,
_kr is a parameter that can reflect the individuality of the driver, v and β are the speed and deceleration of the vehicle, and v ₀ and β ₀ are the speed and deceleration of the obstacle.

Next, the change of acceleration, speed, and position in Step 804 will be described. First, Step80
3, when the stop is determined, the acceleration a (t), the speed v (t), and the position x of the vehicle at the time t × T _s
(T) is updated according to a (t) = 0.0, v (t) = 0.0, x (t) = (t−1) 6. Also, if it is determined that acceleration / deceleration / speed maintenance,

[0034]

(Equation 2)

As described above, according to this embodiment, since the lane change can be realized and the influence of the individuality of the driver on the traffic flow can be simulated, it is possible to simulate a more realistic traffic environment. .

FIG. 7 is a flowchart of a program for realizing the road infrastructure facility operation generating means. Step4
When the program is started in step 01, in step 402, the traffic input unit 40 obtains information on the driving vehicle and the surrounding vehicles from the driving vehicle information storage device 56 and the peripheral vehicle information storage device 32. In this embodiment, the data type of vehicles and roads in the road infrastructure facility operation unit uses the same data type as that of the road traffic simulation device 30. In Step 403, a road environment such as weather and time is input. In Step 404, the input of Steps 402 and 403 is used to supply various information supplied to the vehicle by the road infrastructure side, such as alarm information for the driving vehicle and automatic control information for all vehicles, and to various simulators such as road surface conditions due to environmental changes. Generate information to Step4
In step 05, various results generated in step 404 are supplied to the corresponding means. Thereafter, Step 402 to Step 405 are repeated.

One embodiment of Step 404 is as follows.
1k in the simulation on the highway ahead of the driving vehicle
m, in a simulation on a general road, if a vehicle having a speed of 0 within 500 m is present in the vehicle information input by the traffic input unit, the in-vehicle information terminal 2 indicates that there is a stopped vehicle.
2, the in-vehicle information terminal provides the information to the operator using video and audio. This makes it possible to evaluate what information should be provided to the driver at what timing.

As an embodiment of Step 404, a road friction coefficient and the like are dynamically generated based on weather information such as rain and snow inputted by the environment input unit 42, and the generated information is used as a vehicle dynamics simulation device or a road traffic simulation device. , It is possible to realize a simulation of the vehicle on a road surface condition that is easy to slip.

Further, the rain and the rain inputted by the environment input unit 42
3D-CG for weather information such as snow and time information such as night
3D-C according to the supply to the display generation means
A G video signal can be generated, and various weather conditions and road surface conditions can be presented to the operator.

FIG. 9 is a flowchart of a program for realizing the execution management means. The internal state has t representing an elapsed time from the start of execution in the execution management unit, a flag for determining whether to collect peripheral vehicle data, and i representing the number of times peripheral vehicles have been collected. First, Step50
When the program is started in step 1, each of the internal states t, i, and flag is initialized in step 502. In this embodiment, peripheral vehicle data is collected in synchronization with the simulation cycle of the road traffic simulator 30.
Here, it is estimated that the simulation cycle of the surrounding vehicle generation unit 3 is 100 milliseconds and the delay time required for collection is 30 milliseconds at the maximum, and it is determined whether or not to collect data according to the evaluation formula of Step 503. If so, in Step 504, the contents of the driving vehicle information storage device 55 are supplied to the road traffic simulator 30, and fl
ag is set to 1. Subsequently, in Step 505, it is checked whether or not a control signal has been input from the 3D-CG video signal generation device 10. If not, it is not the timing of drawing, so the execution time up to now is t.
(Step 540), and the execution is performed again from Step 503. If the input has been made, it is the drawing timing, so that the processing after Step 506 is performed. Step
In 506, the contents of the display data storage device 54 are stored in 3D-CG.
It is supplied to the video signal generation device 10. By supplying the display data immediately after the drawing timing check in this way, the delay time due to the data collection on the 3D-CG display means side is made as short as possible. After Step 507, processing for generating data corresponding to the next drawing timing is performed.

In Step 507, it is checked whether or not it is time to collect surrounding vehicles by using a flag.
If the timing (flag = 0), Step 5
At 09, peripheral vehicle information is collected from the peripheral vehicle information storage device 32 of the peripheral vehicle generation means, and stored in the simulation result storage device 51. The peripheral vehicle data collected in Step 508 is not exactly the vehicle data at the time t. In particular, when the collection processing in Step 508 is not performed, the simulation result storage device 5
1 will be used. For example, at the time of the fifth drawing timing t = 165 milliseconds, the surrounding vehicle data at the time of t = 100 milliseconds is used, and the diversion of this data uses the same data for 100 milliseconds. There are many unacceptable problems, such as the fact that it is useless to keep the drawing speed at 33 milliseconds.

Therefore, in this embodiment, the interpolation processing unit 52
Using the simulation time t supplied from the simulation control unit 50 and the recently obtained vehicle information stored in the simulation result storage device 51,
By performing an interpolation process, vehicle data corresponding to the drawing timing is created (Step 520). In Step 530, the driving vehicle information is collected from the driving vehicle information storage device.
In Step 531, data conversion processing is performed on the peripheral vehicle data generated in Step 520 and the driving vehicle data obtained in Step 530 according to the output destination, and the result is stored in the display data storage device 54 and the driving vehicle information storage device 55. In Step 540, the time Δt required for the processing so far is added to t in Step 540, and
Returning to step 503, the processing is continued.

In this embodiment, the driving vehicles are collected every time,
The peripheral vehicles are collected only in a specific case because the simulation interval of the driving vehicle is 1 millisecond, the simulation interval of the peripheral vehicles is 100 milliseconds, and the drawing interval is 33 milliseconds. The reason why the interpolation processing of the driving vehicle information is not performed is that the simulation interval of the driving vehicle of 1 millisecond is negligibly shorter than the drawing interval of 33 milliseconds. Therefore, when the simulation interval of the driving vehicle is not so small as to be negligible with respect to the drawing interval, it is necessary to perform the interpolation processing also on the driving vehicle information.

By appropriately performing the interpolation processing and the data conversion processing, it becomes possible to connect a plurality of simulation apparatuses having different simulation periods and different data types used in the simulation in real time. 3D-C for display
By using G and operating in real time, it is possible to give a realistic view to the operator and provide the system with interactivity, so that it is possible to evaluate a system that includes a person as a component. .

Driving vehicle information is collected and supplied to the road traffic simulation, or the result of the road traffic simulation is supplied to the driving vehicle generation means. This is performed using the communication of In this embodiment, Lan is used for connection between devices, but actual communication between vehicles and between roads and vehicles is performed wirelessly. Wireless communication involves more delay than wired communication and is less reliable. Therefore, when this delay and reliability are realized by software and this system is realized by a wired network,
Simulate wireless communication and perform more realistic simulations. For example, when generating vehicle information corresponding to the drawing timing by interpolation, the driving vehicle information storage device 55
The driving vehicle data to be stored as vehicle information at a different timing from the display data is generated by performing interpolation processing. A close environment can be realized.

An embodiment of the interpolation processing / data conversion processing will be described below. FIG. 10 shows the third embodiment of the present invention.
FIG. 2 is an explanatory diagram showing vehicle information used in a D-CG video signal generation device 10, a vehicle dynamics simulation device 26, and a road traffic simulation device 30. First, each coordinate system will be briefly described. (A) A three-dimensional coordinate system of the 3D-CG video signal generation device 10: a coordinate system for displaying 3D-CG, where x, y, and z axes in the world coordinate system are as shown in FIG. It has become. The vehicle V in 3D-CG coordinates is represented by a position in the world coordinate system and an Euler angle, and the position is Pv _CG (xv _CG , yv _CG , zv _CG ), and the Euler angle is EAv _CG (θv _CG (yaw angle), ψv _CG ). (Pitch angle), φ
v _CG (roll angle)). Hereinafter, this is called 3D-C
Called G coordinates. (B) The three-dimensional coordinate system of the vehicle dynamics simulation device 26: each axis of x, y, z is as shown in FIG. Similar to the 3D-CG module, the vehicle V is represented by the position of the vehicle in the world coordinate system and the Euler angles,
The position is Pv _VD (xv _VD , yv _VD , zv _VD ), and the Euler angle is EAv _VD (φv _VD (yaw angle), θ (pitch angle), ψv
_VD (roll angle)). Hereinafter, this is referred to as vehicle dynamics simulation coordinates. (C) Coordinate system in the road traffic simulation device: In a road traffic simulator, a branch / confluence point or an intersection is represented by an object called a node, and a road connecting adjacent nodes is represented by an object called a street. The simulation is performed on a road network which is a set of streets, and the vehicle position is represented by a street number s, a lane number 1, a distance D to the next node, and a distance L from the center of the lane (positive in the left direction). . The lane number is 0 on the rightmost lane, and the number increases toward the left lane.

Hereinafter, these coordinates (s, l, D, L) will be referred to as road traffic simulator coordinates. As described above, the peripheral traffic generation means performs a simulation on a plane (two-dimensional). This is because the road traffic simulator has to simulate a large number of vehicles at the same time because of the nature of simulating the traffic. This is because it is necessary to speed up searches and behavior calculations.

FIG. 10 is a flowchart for obtaining the road traffic simulator coordinates of the vehicle at the time t by the interpolation processing. Here, t _k is the time of the k-th drawing timing. When the execution of the interpolation process is started in Step 521, in Step 522, the drawing timing time t and the vehicle information (position (s, 1, D, L), speed v, and lateral speed Lv) stored in the simulation result storage device 51. To get. This vehicle information is the result of the i-th road traffic simulator that is smaller than time t and satisfies the maximum of 100 * i. Equation 1 in Step 523
0, the vehicle position at time t (st, lt, D
t, Lt). _{s t = s l t = 1} D t = D + v * (t-100 * i) L t = L + Lv * (t-100 * i) ... 10 Here, as t-100 * i is sufficiently small, simple Although linear interpolation is performed, the interpolation processing here is not limited to linear interpolation.

Next, various conversion processes will be described. 3
The D-CG coordinates and the vehicle dynamics simulation coordinates are both 3D coordinates, and the coordinate conversion can be performed by performing a simple calculation as in Equations 11 and 12.

[0050]

(Equation 3)

On the other hand, road traffic simulator coordinates and 3D-
Since the CG coordinates are essentially different coordinates, the coordinates cannot be converted by simple calculations. Therefore, in this embodiment, the conversion and the reverse conversion from the road traffic simulator coordinates to the 3D-CG coordinates are performed by generating and using the data conversion database 56 as a dedicated database. In the following description, since the vehicle dynamics simulation coordinates do not come out, the 3D-CG coordinates of the vehicle V are simply expressed as V (Pv (xv, yv, zv), EAv (Qv, ψ
v, φv)). First, the data structure of the data conversion database 56 will be described in detail. In this database, the road network is configured as a network including nodes and links in order to obtain compatibility with the coordinates of the road traffic simulator. The network is composed of three types of objects: a base point, a road, and a single road. FIG. 12 illustrates these three types of objects.

The road traffic simulator coordinates (s,
1, D, L) are converted to 3D-CG coordinates V (Pv (xv, yv,
zv), one embodiment for converting EAV (θv, φv, ψv)) will be described in detail. FIG. 13 is an explanatory diagram of this embodiment, and FIG. 14 is a flowchart of the process.
First, in Step 601, a single road where the vehicle is located is obtained from s. Subsequently, in Step 602, using D and the road index, a nearby road object R _i of R _k is obtained (i = 10 in FIG. 13). Start the search in the traveling direction rearward from R _i in STEP 603, a R _k for obtaining the road objects with base point k as the D <D _k elements (in FIG. 10 k = 9). In Step 604, d =
D is obtained from DD _k . Assuming that the vehicle is traveling on the rightmost lane vector P _k P _{k + 1 in} Step 605 (the road traffic simulator coordinates (s, 0, D,
0)), the 3D-CG coordinates of the vehicle are V ′ (Pv ′, EA
v ′) is calculated by the following equations (13) and (14). Pv using _{'= P k + MR k *} d ... 13 EAv' = EA k + ER k * d ... 14 At STEP 606 L, l and lane width w,
The distance LD from V ′ to V is obtained by Expression 15. LD = (l * w + L) / cos (θv′−θ _k )... In step 607, it is checked whether LD = 0, and
Since V = V 'when LD = 0, Step 608
In Equations (16) and (17), the position and the direction are obtained, and the conversion process ends. Pv = Pv '... 16 EAv = EAv'... 17 If LD ≠ 0, the processing after Step 609 is continuously performed. In Step 609, a vector LV obtained by converting a vector (-1, 0, 0) in the leftward direction with respect to the traveling direction of the vehicle in the vehicle fixed system in 3D-CG coordinates into a world coordinate system is obtained. In this embodiment, for simplicity, it is assumed that the roll angle is 0, and the value is as shown in Expression 18. Vector LV = (− cos θv ′, 0, sin θv ′) 18 In Step 610, the steering angle of the vehicle whose lane is being changed is set to SA.
, And 3D-CG coordinates V (Pv, E) determined by the following equations 19 and 20 using V ′, LD, vectors LV and SA.
Av) is obtained, and the conversion process ends. Pv = Pv ′ + LD * vector LV 19 EAv = (θv ′ + SA, ψv ′, φv ′) 20

Subsequently, the 3D-CG coordinates V (x
One embodiment for converting v, yv, zv, θv, φv, ψv) into road traffic simulator coordinates (s, 1, D, L) will be described with reference to FIGS. FIG. 15 is an explanatory diagram of this embodiment, and FIG. 16 is a flowchart. Here, for simplicity, the roll angle is set to 0, and only the xz plane is considered. The road object where the vehicle was located last time is set to _Rk . FIG. 15 shows each coordinate used here. The vector from P _k to the vehicle is vector v1 = (x1, z1), vector P _k
The unit vector of P _{k + 1} is _represented by a vector v2 = (x2, z2)
Is determined. In Step 701, the magnitude d of the component of the vector v1 in the vector P _k P _{k + 1} direction and the vector P _k
The magnitude LD of the component in the vertical direction to P _{k + 1} is given by the following formulas 21, 22,
23 and 24. Vector {v1} = (x1, z1) = (xx _k , zz _k ) 21 vector {v2} = (x2, z2) = vector P _k P _{k + 1} / len _k = (x _{k + 1} -x _k , z _{k + 1} -z _k ) / len _k ... 22 d = x1 * x2 + z1 * z2 ... 23 LD = x1 * z2-z1 * x2 ... 24 Check d> len _{k in} Step 702, and if true Is not the corresponding base point, so that k = k + 1 and Ste
Re-execute p701. In the case of false, Step 703 uses d and LD to obtain l, D,
After obtaining L, the conversion process ends. D = D _k -d 25 l = <LD / w> 26 L = LD-w * l 27 where <x> represents the largest integer smaller than x.

As described above, simulation results are appropriately collected and interpolated in accordance with the drawing timing, so that the vehicle dynamics simulation device and the road traffic simulation device having different simulation periods are connected in real time, and the results are converted into 3D data. -Can be output as a CG video signal. By connecting in real time, the operation of the operator can be reflected in the simulation and the input can be reflected in the simulation. This simulator can simulate the interaction between a person and a road or between a person and a vehicle.

Further, by providing a device for dynamically converting from two-dimensional to three-dimensional, it is possible to display a simulation by a large number of vehicles by 3D-CG and to interact with a vehicle dynamics simulation device. This enables driving simulation under various traffic conditions.

Further, by providing the simulation control section and the data conversion processing section, the simulation cycle and the data type of the road traffic simulator apparatus and the vehicle dynamics simulator apparatus can be arbitrarily set. With these features, the present invention can be realized in any existing or future road traffic simulation device or vehicle dynamics simulation device.

In this embodiment, the database used by each means is generated from one detailed road database. The detailed road database in this embodiment is 1 m
It is a mesh three-dimensional database. For example, the contents of the road traffic database 31 used by the peripheral vehicle generating means c are a detailed database in which the center line of the rightmost lane is projected on a two-dimensional plane every 100 m, and points such as a junction and a junction, an intersection and a tollgate are defined as nodes. Considering the lane width and the number of lanes,
It is converted to a three-dimensional map. The distance between the nodes is represented by the distance along the center line of the projected rightmost lane.
Further, the display database used in the 3D-CG display means cannot be obtained at a high drawing speed if the detailed road database is used as it is, and is simplified to a three-dimensional database of 20 m mesh.

Embodiment 2 In the second embodiment, a method of realizing a road infrastructure facility operation simulation unit different from the first embodiment will be described. Speed v of preceding vehicle V _1
1, emergency maximum deceleration beta _1, operation speed v ₂ of the vehicle V _2,
Normal maximum deceleration β ₂ , idle time τ ₂ , grace distance d _stop
If a, L _min obtained by Equation 28 represents the normal safe minimum distance between vehicles can be stopped by decelerating when the preceding vehicle V ₁ is subjected to emergency braking by sudden braking. Further, v _r in Expression 29 is v 2 when L = L _min . Therefore, the inter-vehicle distances L and L between the preceding vehicle V ₁ and the driving vehicle V ₂ are calculated.
_The following information is provided to the in-vehicle information terminal 22 based on the relation of _min . 1. When L> L _min : No particular warning is issued based on the safe inter-vehicle distance. If necessary, to present a v _r. 2. L <when the L _min: warning by using a voice that not Stop only in sudden braking, presents the v _r, performs the deceleration instruction.

[0059]

(Equation 4)

[0060]

According to the road traffic system evaluation simulation apparatus of the first configuration of the present invention, the virtual traffic system interacts with the road infrastructure facilities and the surrounding vehicles in various traffic environments where the surrounding traffic exists. The vehicle can be driven. Thereby, there is an effect that an interaction between a person, a road, and a vehicle can be realized.

Further, according to the road traffic system evaluation simulation apparatus of the second configuration of the present invention, when the same environment is represented by different databases by a plurality of means, each database is generated based on one database. As a result, there is an effect that the time required for generating the database can be reduced, and the consistency of data between the databases can be easily obtained.

Further, according to the road traffic system evaluation simulation device of the third configuration of the present invention, there is an effect that the influence of the behavior of the operator of the driving vehicle on the surrounding traffic can be evaluated.

Further, according to the road traffic system evaluation simulation apparatus of the fourth configuration of the present invention, it is possible to evaluate the effects of systems operating on various road infrastructure facilities on vehicles and drivers, and to provide the driver with an advantage. There is an effect that the impression given can be obtained by simulation.

Further, according to the road traffic system evaluation simulation apparatus of the fifth configuration of the present invention, by realizing the delay and reliability by wireless virtually, even when this system is realized by a wired network. This has the effect that a more realistic simulation can be performed.

In addition, according to the road traffic system evaluation simulation apparatus of the sixth configuration of the present invention, a traffic environment in which a large number of vehicles exist can be generated by simulating the surrounding vehicles in two dimensions. By displaying this three-dimensionally, it is possible to perform a driving simulation under various traffic conditions.

Further, according to the road traffic system evaluation simulation apparatus according to the seventh and eighth configurations of the present invention, by connecting in real time, it is possible to reflect the input of the operator to the simulation in the simulation. This simulator can simulate the interaction between people and roads and between people and vehicles. Further, by providing the simulation control unit and the data conversion processing unit, the simulation cycle and data type used in the road traffic simulator device and the vehicle dynamics simulator device can be made arbitrary. Due to these features, the present invention has an effect that it can be realized in any existing or future road traffic simulation device or vehicle dynamics simulation device.

Further, according to the road traffic system evaluation simulation device of the ninth configuration of the present invention, it is possible to evaluate a system for providing information from road infrastructure equipment including a person, and to provide information providing means. This has the effect that it can be used for purposes such as selection of contents of the information to be provided and the like.

Further, according to the road traffic system evaluation simulation device of the tenth configuration of the present invention, various weather conditions are simulated and generated by the driver, the driving vehicle, the peripheral vehicles, and the road infrastructure equipment. This has the effect of being able to evaluate the effect on the system.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a road traffic system evaluation simulation device according to the present invention.

FIG. 2 is a block diagram showing a configuration of a road traffic system evaluation simulation device according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing an operation of a 3D-CG display unit of the road traffic system evaluation simulation device shown in FIG. 2 according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing an operation of a driving vehicle generation unit of the road traffic system evaluation simulation device shown in FIG. 2 according to the first embodiment of the present invention.

FIG. 5 is a flowchart showing an operation of a peripheral vehicle generation unit of the road traffic system evaluation simulation device shown in FIG. 2 according to the first embodiment of the present invention.

FIG. 6 is a flowchart showing a traveling state process of the vehicle in the road traffic simulation device 30 in the peripheral traffic generation unit c according to the first embodiment of the present invention.

FIG. 7 is an explanatory diagram showing acceleration / deceleration / stop determination of the vehicle in the road traffic simulation device 30 in the peripheral traffic generation unit c according to the first embodiment of the present invention.

FIG. 8 is a flowchart showing an operation of a road infrastructure facility operation generation unit of the road traffic system evaluation simulation device shown in FIG. 2 according to the first embodiment of the present invention.

FIG. 9 is a flowchart showing the operation of the execution management means of the road traffic system evaluation simulation device shown in FIG. 2 according to the first embodiment of the present invention.

FIG. 10 shows a 3D-CG video signal generation device 10 and a vehicle dynamics simulation device 2 according to the first embodiment of the present invention.
5 is a diagram showing a data type of a vehicle used in each of the road traffic simulation devices 30. FIG.

FIG. 11 is a flowchart illustrating an operation of an interpolation process in the execution management unit e according to the first embodiment of the present invention.

FIG. 12 is a diagram illustrating a data structure of a data conversion database 56 in the execution management unit e according to the first embodiment of the present invention.

FIG. 13 is a diagram illustrating a process of converting the road traffic simulation coordinates into the 3D-CG coordinates in the data conversion unit in the execution management unit e according to the first embodiment of the present invention.

FIG. 14 is a flowchart illustrating a process of converting data from a road traffic simulation coordinate to a 3D-CG coordinate in the data conversion unit in the execution management unit e according to the first embodiment of the present invention.

FIG. 15 is a diagram illustrating a conversion process from 3D-CG coordinates to road traffic simulation coordinates in the data conversion unit in the execution management unit e according to the first embodiment of the present invention.

FIG. 16 is a flowchart showing a conversion process from 3D-CG coordinates to road traffic simulation coordinates in the data conversion unit in the execution management unit e according to the first embodiment of the present invention.

[Explanation of symbols]

a three-dimensional display generating means, b driving vehicle generating means, c
Peripheral vehicle generating means, d road infrastructure equipment operation generating means,
e execution management means, 10 3D-CG video signal generation device, 11 display database, 12 3D-CG display means, 20 driving operation device, 21 vehicle control input, 22
In-vehicle information terminal, 23 A / D converter, 24, 41 road database, 25 vehicle dynamics simulation device, 26 driving vehicle information storage device, 30 road traffic simulation device, 31 road traffic database, 32
Peripheral vehicle information storage device, 40 traffic input unit, 42 environment input unit, 43 road infrastructure equipment operation simulation device, 50 simulation control unit, 51 simulation result storage device, 52 interpolation processing unit, 53 data conversion unit, 54 display data storage device , 55 Driving vehicle information storage device, 56 Data conversion database.

────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] November 19, 1998

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0019

[Correction method] Change

[Correction contents]

In FIG. 1, reference numeral 10 denotes a 3D-CG for generating a 3D-CG video signal using the vehicle data generated by the data converter 53 and the display road database 11.
An image signal generation unit 12 is a 3D-CG display device that displays the 3D-CG generated by the 3D-CG image generation unit 10. The above 10, 11, and 12 realize 3D-CG display means.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0021

[Correction method] Change

[Correction contents]

[0021] 30 is a road traffic simulation apparatus,
It has a road traffic database 31 and driving vehicle information as inputs, simulates the behavior of all surrounding vehicles under the traffic environment where the driving vehicle exists, and calculates the position, speed, acceleration (hereinafter, peripheral vehicle information) of the surrounding vehicles. Output. Reference numeral 32 denotes a peripheral vehicle information storage device that extracts only data within the visible range of the operator from the output of the road traffic simulator 30 and temporarily stores the extracted data. The above 30, 31, and 32 realize the peripheral vehicle generation device.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0041

[Correction method] Change

[Correction contents]

In Step 507, it is checked whether or not it is time to collect surrounding vehicles by using a flag.
If the timing (flag = 1 ), Step 5
At 08 , peripheral vehicle information is collected from the peripheral vehicle information storage device 32 of the peripheral vehicle generation means and stored in the simulation result storage device 51. The peripheral vehicle data collected in Step 508 is not exactly the vehicle data at the time t. In particular, when the collection processing in Step 508 is not performed, the simulation result storage device 5
1 will be used. For example, at the time of the fifth drawing timing t = 165 milliseconds, the surrounding vehicle data at the time of t = 100 milliseconds is used, and the diversion of this data uses the same data for 100 milliseconds. There are many unacceptable problems, such as the fact that it is useless to keep the drawing speed at 33 milliseconds.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0048

[Correction method] Change

[Correction contents]

FIG. 11 is a flowchart for obtaining the road traffic simulator coordinates of the vehicle at the time t by the interpolation processing . When the execution of the interpolation process is started in Step 521, in Step 522, the drawing timing time t and the vehicle information (position (s, 1, D, L), speed v, and lateral speed Lv stored in the simulation result storage device 51). ) To get. This vehicle information is the result of the i-th road traffic simulator that is smaller than time t and satisfies the maximum of 100 * i. Equation 1 in Step 523
0, the vehicle position at time t (st, lt, D
t, Lt). _{s t = s l t = 1} D t = D + v * (t-100 * i) L t = L + Lv * (t-100 * i) ... 10 Here, as t-100 * i is sufficiently small, simple Although linear interpolation is performed, the interpolation processing here is not limited to linear interpolation.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0050

[Correction method] Change

[Correction contents]

[0050]

(Equation 3)

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0051

[Correction method] Change

[Correction contents]

On the other hand, road traffic simulator coordinates and 3D-
Since the CG coordinates are essentially different coordinates, the coordinates cannot be converted by simple calculations. Therefore, in this embodiment, the conversion and the reverse conversion from the road traffic simulator coordinates to the 3D-CG coordinates are performed by generating and using the data conversion database 56 as a dedicated database. It does not come out in the vehicle dynamics simulation coordinates in the following description, simply V (Pv (xv the 3D-CG coordinates of the vehicle V, yv, zv), EAv (θ v, ψ
v, φv)). First, the data structure of the data conversion database 56 will be described in detail. In this database, the road network is configured as a network including nodes and links in order to obtain compatibility with the coordinates of the road traffic simulator. The network is composed of three types of objects: a base point, a road, and a single road. FIG. 12 illustrates these three types of objects.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0052

[Correction method] Change

[Correction contents]

The road traffic simulator coordinates (s,
1, D, L) are converted to 3D-CG coordinates V (Pv (xv, yv,
zv), EA v (θv, φv, ψv)) will be described in detail. FIG. 13 is an explanatory diagram of this embodiment, and FIG. 14 is a flowchart of the process.
First, in Step 601, a single road where the vehicle is located is obtained from s. Subsequently, in Step 602, using D and the road index, a nearby road object R _i of R _k is obtained (i = 10 in FIG. 13). Start the search in the traveling direction rearward from R _i in STEP 603, a R _k for obtaining the road objects with base point k as the D <D _k elements (in FIG. 10 k = 9). In Step 604, d =
D is obtained from DD _k . Assuming that the vehicle is traveling on the rightmost lane vector P _k P _{k + 1 in} Step 605 (the road traffic simulator coordinates (s, 0, D,
0)), the 3D-CG coordinates of the vehicle are V ′ (Pv ′, EA
v ′) is calculated by the following equations (13) and (14). Pv using _{'= P k + MR k *} d ... 13 EAv' = EA k + ER k * d ... 14 At STEP 606 L, l and lane width w,
The distance LD from V ′ to V is obtained by Expression 15. LD = (l * w + L) / cos (θv′−θ _k )... In step 607, it is checked whether LD = 0, and
Since V = V 'when LD = 0, Step 608
In Equations (16) and (17), the position and the direction are obtained, and the conversion process ends. Pv = Pv '... 16 EAv = EAv'... 17 If LD ≠ 0, the processing after Step 609 is continuously performed. In Step 609, a vector LV obtained by transforming a vector (-1, 0, 0) in the leftward direction with respect to the traveling direction of the vehicle in the vehicle fixed system in 3D-CG coordinates into a world coordinate system is obtained. In this embodiment, for simplicity, it is assumed that the roll angle is 0, and the value is as shown in Expression 18. Vector LV = (− cos θv ′, 0, sin θv ′) 18 In Step 610, the steering angle of the vehicle whose lane is being changed is set to SA.
, And 3D-CG coordinates V (Pv, E) determined by the following equations 19 and 20 using V ′, LD, vectors LV and SA.
Av) is obtained, and the conversion process ends. Pv = Pv ′ + LD * vector LV 19 EAv = (θv ′ + SA, ψv ′, φv ′) 20

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0058

[Correction method] Change

[Correction contents]

Embodiment 2 In the second embodiment, a method of realizing a road infrastructure facility operation simulation unit different from the first embodiment will be described. Speed v of preceding vehicle V _1
1, emergency maximum deceleration beta _1, operation speed v ₂ of the vehicle V _2,
Normal maximum deceleration β ₂ , idle time τ ₂ , grace distance d _stop
If a, L _min obtained by Equation 28 represents the normal safe minimum distance between vehicles can be stopped by decelerating when the preceding vehicle V ₁ is subjected to emergency braking by sudden braking. Further, v _r in Expression 29 is v 2 when L = L _min . Therefore, the inter-vehicle distances L and L between the preceding vehicle V ₁ and the driving vehicle V ₂ are calculated.
_The following information is provided to the in-vehicle information terminal 22 based on the relation of _min . 1. When L> L _min : No particular warning is issued based on the safe inter-vehicle distance. If necessary, to present a v _r. 2. L <when the L _min: warning with a voice that you do not Stop only in sudden braking, presents the v _r, performs the deceleration instruction.

[Procedure amendment 9]

[Document name to be amended] Drawing

[Correction target item name] Figure 2

[Correction method] Change

[Correction contents]

FIG. 2

[Procedure amendment 10]

[Document name to be amended] Drawing

[Correction target item name] Fig. 9

[Correction method] Change

[Correction contents]

FIG. 9

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Haruki Furusawa 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation

Claims (10)

[Claims] 1. A three-dimensional display generation means integrally displays a vehicle generated by a peripheral vehicle generation means, a driving vehicle generated by a driving vehicle generation means, and a road infrastructure operation controlled by a road infrastructure equipment operation means. Road traffic system evaluation simulation device. 2. The database used by each of the three-dimensional computer graphics display generation means, the driving vehicle generation means, the peripheral vehicle generation means, and the road infrastructure facility operation generation means is generated from one detailed three-dimensional road database. The road traffic system evaluation simulation device according to claim 1, wherein: 3. The peripheral vehicle generating means recognizes the driving vehicle position generated by the driving vehicle generating means, and the vehicle generated by the peripheral vehicle generating means and the driving vehicle generated by the driving vehicle generating means interact with each other. The road traffic system evaluation simulation device according to claim 1 or 2, wherein: 4. The road traffic system evaluation simulation apparatus according to claim 1, wherein the road infrastructure facility, the surrounding vehicle, and the driving vehicle interact with each other. 5. A vehicle having a road-to-vehicle communication unit that simulates communication between a road infrastructure facility and a vehicle or an inter-vehicle communication unit that simulates communication between vehicles, wherein the vehicle generated by the peripheral vehicle running generation unit and the driving vehicle generation unit are provided. The road traffic system evaluation simulation device according to claim 3, wherein the generated interaction with the driving vehicle is performed via a road-to-vehicle communication unit or a vehicle-to-vehicle communication unit. 6. The road traffic system evaluation simulation apparatus according to claim 1, wherein the peripheral vehicle generating means generates a two-dimensional position of the vehicle and converts the generated position into a three-dimensional position. . 7. The road traffic system evaluation simulation device according to claim 1, further comprising a simulation management / data conversion unit that manages execution of simulation and data conversion. 8. The vehicle information is temporally matched by performing an interpolation process on the peripheral vehicle information and the driving vehicle information obtained by the peripheral vehicle generation means and the driving vehicle generation means. Item 7. A road traffic system evaluation simulation device according to item 7. 9. The driving vehicle behavior generation unit includes an in-vehicle information terminal device, and has a mechanism for providing various information supplied from a road infrastructure or a vehicle to an operator by screen display or voice. A road traffic system evaluation simulation device according to claim 2 or 3. 10. The method according to claim 1, wherein various weather conditions and road surface conditions such as rain, snow, freezing, and fog are generated, and a display and a vehicle simulation are performed in accordance with the generated conditions. 2. The road traffic system evaluation simulation device according to 2.