WO2006064817A1

WO2006064817A1 - Operation simulator for railway

Info

Publication number: WO2006064817A1
Application number: PCT/JP2005/022896
Authority: WO
Inventors: Hitoshi Tsunashima; Takashi Kojima
Original assignee: Nihon University
Priority date: 2004-12-14
Filing date: 2005-12-13
Publication date: 2006-06-22
Also published as: JPWO2006064817A1

Abstract

An operation simulator for railway, in which a view is displayed in 3D on a screen in front of an operator seat in concert with operation by an operator wearing polarization glasses and in which conditions of the operation are displayed. The simulator has a train control means for obtaining traveling speed and traveling position of an imaginary train according to the operation; a 3D image creation means having a storage section in which tangible bodies arranged on a rail track and along the rail track are stored and creating, depending on the traveling speed and traveling position, individual views as seen by the left and right eyes of an imaginary operator; and a 3D image display means for projecting the created image on the screen through a polarization plate. When views as seen from the left eye and right eye are created, they are projected at the same time.

Description

Specification

Railway driving simulator

Technical field

TECHNICAL FIELD [0001] The present invention relates to a railway driving simulator, and more particularly to a railway driving simulator used for railway driving operation training and driver error research.

Background art

[0002] Conventionally, in order to ensure the safety of railways, it has been common to use a closing system for railway vehicle operations. The blocking method is a method that prevents a train from colliding by setting a closed section on the track, and occupying that section by one train and prohibiting other trains from entering that section. . A traffic light is used to notify the presence or absence of a train in the blocked section and whether or not it can enter. Therefore, traffic lights are the basis for driving trains safely.

On the other hand, the traffic signal was overlooked due to the driver's swaying while the train was running, and accidentally entered the blockage section, causing a train accident when it collided with another train. For this reason, in order to ensure safety even when the traffic light is ignored, a backup system is used to alert the driver and at the same time brake the train and stop it automatically.

(DATS (automatic train stop device) sends a control signal from the ground and sends an alarm bell to the driver's cab by sending a control signal from the ground when the train does not stop normally even if a train approaches the stop signal. It is a device that stops the train in front of the traffic light by calling attention or automatically operating the brake.

(2) ATC (Automatic Train Control Device) is a device that automatically brakes the train based on signals from the ground and speed information, and releases the brake when the train falls below the speed limit.

(3) The EB device is a device that detects an abnormal condition related to an operating crew member and stops the train. For example, if it is detected that a crew member of a motor vehicle does not perform any driving operation on the master controller or brake for one minute, an alarm buzzer is sounded and driving is performed within 5 seconds. If no operation or reset operation is performed, the train is stopped.

[0003] However, even if these backup systems are used, there are accidents that cause collisions with cars and people at railroad crossings, accidents that accidentally hit workers during track maintenance, and stations that should be stopped. An accident occurs that passes.

[0004] Therefore, it is considered that the following problems remain in the above backup system.

(1) It shouldn't reduce the number of errors.

(2) Although it must operate only when an error occurs, it may intervene even during normal times. (3) A new error will occur if handled incorrectly.

[0005] Therefore, there is a need for operation training and error analysis to prevent the driver from making an error just by relying only on the backup system. However, there are limits to training and experiments using actual vehicles, so it is considered effective to train repeatedly and conduct experiments using a railway driving simulator.

[0006] A railway driving simulator is capable of virtually operating a railway, and mainly when a driving operation is performed by a controller of the vehicle, the vehicle virtually runs in accordance with the operation. In general, the field of view that can be seen by the driver is projected onto the screen.

[0007] For example, the route image between each station from the station where the driving lesson starts to the station where it ends and the route image near each station that stops in the meantime are maintained, and the inter-station route image according to the driving operation. In some cases, a route image corresponding to the traveling of the vehicle is projected by switching and reproducing the route image near the stop station (see, for example, Patent Document 1).

[0008] In addition, since the fixed point stop training with high accuracy can be performed by increasing the correlation between the driving operation by simulation and the route image, the forward route image is displayed in front of the cab, and on the side of the cab. A railway driving simulator has been proposed in which a side image of the vicinity of a stop station is displayed (for example, see Patent Document 2).

[0009] Such a driving simulator is used not only in the railway field but also in the automobile field, and the traveling speed on the image changes depending on the handle operation and the degree of depression of the accelerator pedal, and the traveling road and the specified speed are protected. Drive simulation for safe driving guidance that checks whether or not (For example, see Patent Document 3), a simulation device that evaluates the driver's and passengers' habitability and maneuverability based on their sensibility when designing a vehicle such as an automobile (see, for example, Patent Document 4) ) Is disclosed. In the process of developing ITS (Intelligent Transport System), evaluation of driving support systems and analysis of driving behavior of elderly drivers are being conducted. In addition, in the field of aviation, it is used to evaluate the stability and maneuverability of aircraft to be developed and to study maneuvering methods.

Patent Document 1: JP-A-10-161516

Patent Document 2: JP-A-11-1237830

Patent Document 3: Japanese Patent No. 2592343

Patent Document 4: JP-A-7-271289

Disclosure of the invention

Problems to be solved by the invention

[0010] However, conventional railway driving simulators, when the driver sees the scenery projected on the screen in front of the driver's seat, feels as if he / she is actually driving. There is a problem that a feeling cannot be obtained, and it cannot be said that the effectiveness in driving operation training and error analysis is sufficiently secured.

[0011] If an attempt is made to ensure effectiveness by incorporating a driving environment in which an actual vehicle is reproduced in detail, the system configuration cannot be flexibly changed in accordance with the train model or the like.

[0012] Furthermore, it is expensive to provide a vibration device that swings the driver's seat or the like in accordance with the traveling state, and to increase the sense of reality, and it is difficult to introduce it to a small company or facility.

[0013] In view of the circumstances described above, the present invention provides low-cost railway driving that can provide the same sense of presence and tension as actual driving and can flexibly change the driving environment. The purpose is to provide a simulator.

Means for solving the problem

[0014] The railway driving simulator of the present invention that achieves the above object displays a 3D landscape on the screen in front of the driver's seat according to the operation of the operating means by the driver wearing polarized glasses, In the railway driving simulator in which the operation state is displayed on the seat display means, the traveling speed of the virtual train is obtained according to the operation of the operation means, and the obtained Train control means for determining the travel position of the virtual train based on the travel speed and the elapsed time, and a storage storing data relating to a track on which the virtual train travels and a tangible object disposed along the track A 3D image generating means for generating respective scenes respectively visible from the left eye and the right eye of the virtual driver according to the travel speed and the travel position obtained by the train control means, 3D image display means for projecting each landscape generated by the 3D image generation means onto the screen via polarizing plates whose polarization axes are orthogonal to each other. The train control means includes the 3D image display means. When each of the scenery that can be seen from the left eye and the right eye is generated by the generation means, each of the generated scenery is projected from the 3D image display means at the same time.

[0015] In this way, the train control means obtains the travel speed and travel position of the train, and the 3D image generation means generates a landscape that is visible to the driver when the actual train travels. Since the 3D image display means three-dimensionally projects it onto the screen in front of the driver, the driver wearing polarized glasses can obtain the same realism and tension as if he were actually driving.

[0016] In addition, a master controller that changes the traveling speed of the virtual train and a brake valve that applies pressure to the braking wheels that brake the virtual train are provided as operation means, and the traveling speed and pressure are displayed as the display means. If an instrument panel is provided and the train control means displays the running speed changed by the master controller and the pressure applied by the brake valve on the instrument panel, the sense of presence and tension can be further enhanced. it can.

[0017] Further, the train control means includes a memory storing data related to the vehicles constituting the virtual train, and data including position information of traffic lights and platforms arranged along the track, and the traveling And calculating a speed and the travel position, and using the data stored in the memory to obtain a displacement including a shake of a vehicle constituting the virtual train at each position on the track. A signal control unit that controls display of the traffic light based on the travel speed and the travel position obtained by the calculation unit, and a door opening / closing control unit that controls opening / closing of the entrance / exit of the virtual train. The 3D image generation means is generated based on the displacement obtained by the calculation unit. In addition, if a left-eye 3D image generation unit that moves the scenery seen from the left eye and a right-eye 3D image generation part that moves the scenery seen from the right eye are provided, it is possible to A vehicle that shakes as it gets on and off can be relatively reproduced by moving the landscape projected on the screen, further enhancing the sense of presence and tension.

[0018] In addition, the train control means, the train control means, based on the data related to the running sound and the alarm sound stored in the memory, the running sound generated according to the running of the virtual train And a sound generating unit that generates sound including a number of alarm sounds and outputs the sound to a predetermined speaker, or the sound generating unit is connected to the instrument panel when the brake valve is operated. By changing the volume and frequency of the data related to the roaring sound stored in the storage unit according to the displayed traveling speed and pressure, and outputting the data from the predetermined speaker, the presence and tension can be further increased. A feeling can be heightened.

[0019] Further, there is provided command means for selecting a simulation environment including a travel route of the virtual train and a type of a vehicle constituting the virtual train, and instructing the train control means and the 3D image generation means. As a result, it is possible to change the simulator operating environment more flexibly.

The invention's effect

[0020] According to the present invention, the speed and pressure that change according to the operation of the driver are displayed on the instrument panel, while the driver wearing polarized glasses according to the change in the travel speed and the change in the travel position. A three-dimensional landscape similar to that seen from a swaying vehicle is unfolded in front of the driver's seat. Therefore, it is possible to give the driver the same sense of presence and tension as driving an actual vehicle. In addition, simulator environments such as travel routes and types of trains to be operated can be flexibly set by menu selection, program change, etc., and a low-cost railway operation simulator can be realized.

Brief Description of Drawings

FIG. 1 is a configuration diagram of a railway driving simulator to which an embodiment of the present invention is applied.

[Fig. 2] A diagram showing, as an example, a real space where the driver looks at the screen and a virtual space where the virtual camera hitting the eyes in the PC looks through the virtual plane. FIG. 3 is a diagram showing, as an example, the relationship between the 3D image generation processing timing by the left viewing PC and the right viewing PC and the processing timing by the vehicle PC.

4] It is a cross-sectional structure diagram showing a frame constituting an image representing a forward landscape.

FIG. 5] is a plan structural view showing a frame constituting an image representing a forward landscape.

6] It is a diagram showing a flowchart in which images are generated in the left view PC and the right view PC.

[7] It is a schematic diagram for explaining the shaking of the vehicle.

FIG. 8 is a diagram showing an example of a vehicle model.

FIG. 9 is a diagram showing an example of a vehicle model.

[Sen 10] This is a diagram showing the situation in which a trajectory error is created.

FIG. 11] is a diagram showing an example of a trajectory error calculated in units of blocks.

12] It is a diagram for explaining irregular pressurization applied to the vehicle.

FIG. 13 is a diagram showing a rolling sound of a brake.

14] It is a diagram for explaining the operation of the railway driving simulator.

Explanation of symbols

1 Speaker

2 Vehicle

3 A Left projector

3B Right projector

4 Visibility display PC

4A Left view PC

4B Right view PC

4a, 4b virtual camera

4x, 4y virtual plane

5 LAN

6 screen

7 PC for command

20 vehicle PC 21 Instrument panel

22 Controller

22A Master controller

22B Brake valve

27 Vibration device

100 camera frame

101 train frame

102 base frame

103 block frame

200 track data

201 Vehicle data

202 Leading train control unit

203 Signal control processor

204 Security device control processing section

205 Conductor control processing section

206 Door control processor

207 Passenger control processor

208 Drive control processor

209 Trajectory control processor

210 Vehicle model calculation processor

211 Sound generation processor

400 Landscape data

401 Image generation control processor

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The railway driving simulator according to the present invention provides a simulated driver's seat for a railway vehicle, and when a driver sitting in the driver's seat operates the operating means, the actual vehicle is driven according to the operation. The front landscape changes and the display of the display means changes as It is a mechanism that can give the driver the feeling of driving an actual vehicle.

The railway driving simulator shown in Fig. 1 has a vehicle 2 with a driver's seat, a speaker 1 that outputs sound generated by the train running, and a left eye that generates a frontal view that can be seen from the driver's seat of the vehicle 2. A pair of visual display computers for the right and left eyes (corresponding to the 3D image generating means of the present invention, hereinafter referred to as “left vision PC” and “right vision PC”) 4 A, 4B, and left Left-eye projector and right-eye projector for projecting the respective front landscapes generated by the visual field PC and the right visual field PCs 4A and 4B (corresponding to the 3D image display means of the present invention, hereinafter referred to as “left projector” and (Referred to as “right projector”) 3A, 3B, a screen 6 arranged in front of the driver's seat, the left projector and the right projector 3A, 3B are transparently projected and superimposed on the front landscape, and a virtual row It is composed of a command personal computer (hereinafter referred to as “command PC”) 7 that sets the simulation environment by selecting the vehicle travel route and the types of vehicles constituting the virtual train.

The vehicle 2 has a controller (corresponding to the operating means of the present invention) 22 for operating the virtual train, and the traveling speed of the virtual train and the pressure of the brake valve according to the operation of the controller 22. Instrument panel for display (corresponding to the display means of the present invention) 21 and a personal computer for vehicle control (hereinafter referred to as “vehicle PC”) that controls the running of a virtual train in accordance with the operation of the controller 22 .) 20 and. The controller 22 includes a master controller 22A that changes the traveling speed of the virtual train, and a brake valve 22B that brakes the virtual train.

[0026] It should be noted that the vehicle PC20, the left field of view PC4A, and the right field of view PC4B are LAN (Local Area

Network) 5, and they can communicate with each other using protocols such as TCP (Transmission Control Protocol) and UDP (User Datagram Protocol).

[0027] In the railway driving simulator of this embodiment, real-time characteristics are important, and high-speed communication is required between PCs. Therefore, UDP is used, the left view PC4A and the right view PC4B are: Software that can handle UDP easily (for example, Winsock) is used, but it is not necessarily limited to this.

[0028] The vehicle PC 20 controls the traveling of the vehicle 2 by a CPU (central processing unit). The CPU performs acceleration / deceleration processing and braking processing operated by the controller 22 in accordance with a program stored in the memory unit. For example, when the driver performs an operation of accelerating the speed with the master controller 22A or performing a braking operation with the brake valve 22B, the CPU of the vehicle PC 20 calculates the traveling speed and pressure, and the calculation result is displayed on the instrument panel. Display on 21.

[0029] In addition, the vehicle PC 20 obtains the traveling position and traveling speed of a virtual train that travels at a predetermined time interval based on the data stored in the memory unit, and also accompanies the shaking of the vehicle and the curve of the track. The displacement of the vehicle is calculated based on a vehicle model or the like. Then, the calculated travel position, travel speed, and vehicle displacement are supplied to the left view PC4A and the right view PC4B.

[0030] Furthermore, the vehicle PC 20 records the running sound when the virtual train travels, the warning sound by the traffic lights arranged along the track, and the roaring sound by the brake, recorded from the actual train and stored in the memory unit. Based on the audio data that has been generated, the sound generation unit (shown in FIG. 15) generates the sound with the sound volume and frequency changed, and outputs the generated sound from the speaker 1.

[0031] The vehicle PC20 obtains the travel position and travel speed at regular intervals or at regular time intervals, and supplies the obtained travel position and travel speed to both the left visual field PC4A and the right visual field PC4B. At any rate.

[0032] The CPUs of the left visual field PC4A and the right visual field PC4B execute a process of generating respective forward scenery that can be seen from the left eye and the right eye of the driver sitting in the driver's seat. Each CPU includes an image generation program stored in a memory unit (corresponding to the storage unit of the present invention), a track on which a virtual train runs, and a signal, a platform, a building, and the like arranged along the track. Based on the data relating to the tangible object and the information on the traveling position and traveling speed supplied from the vehicle PC 20, a three-dimensional model of the front landscape by computer graphics (CG) is generated. Then, a 2D image is generated by rendering the stereoscopic model with the left eye and the right eye of the driver as viewpoints. Then car Considering the vehicle displacement including the shaking of the vehicle supplied from both PCs 20, the front view is seen by generating a 2D image by rendering that moves the viewpoints of the left and right eyes of the driver The virtual train driver can experience the same vibrations and curves as the actual train.

[0033] Here, the displacement of the vehicle including the vehicle shake in the present embodiment is calculated using a vehicle model. The vehicle model is a model that calculates the vibrations when the vehicle 2 actually travels or when passengers get on and off.The vehicle is out of track, irregular pressure is applied when passengers get on and off, vehicle inertia force, gravity, etc. The details will be described later.

[0034] In the present embodiment, the CPUs for the left visual field PC4A and the right visual field PC4B are arranged along the line and the line along the line of the visual frustum between the front clip surface and the rear clip surface in perspective projection. 3D models such as traffic lights, platforms, buildings, and distant landscapes are formed, and each front landscape is generated by rendering with either the left eye or the right eye of the driver as the viewpoint.

[0035] It should be noted that this stereo model is generated in common by any one of the left view PC4A and the right view PC4B, and both CPUs perform the same based on the generated common stereo model.

[0036] Scenes by CG generated by the CPUs of the left field of view PC4A and the right field of view PC4B are projected on the screen 6 from the left projector 3A and the right projector 3B as a left eye landscape and a right eye landscape.

[0037] Note that each of the left projector 3A and the right projector 3B is provided with a polarizing plate whose polarization axes are orthogonal to each other, and a left-eye landscape and a right-eye landscape are projected through the polarizing plate. Therefore, the driver sitting in the driver's seat has a polarized lens having the same polarization axis as that attached to the left projector 3A, and a polarized lens having the same polarization axis as that attached to the right projector 3B. Use polarized glasses that fit into your right eye. By viewing the CG landscape projected on the screen through the polarized glasses, a 3D image equivalent to that seen from the front of the driver's seat on the actual train appears in front of the driver.

[0038] In addition, the scenery by CG projected on the screen moves according to the calculated displacement of the vehicle. Because it moves (shakes), the driver feels that the vehicle is shaking when the track curves, when the train runs, or when passengers get on and off. In addition, as driving sounds and warning sounds flow from the speakers as the virtual train travels, the driver can get a sense of realism and tension similar to when driving an actual train. it can.

[0039] Here, in the railway driving simulator of the present embodiment, the 3D image generation means is "left vision PC" and "right vision PC", and the 3D image display means is "left projector" and "right Although the projectors are individually configured, the left and right are not necessarily required to be separated from each other.

[0040] The screen and the 3D image display means may be integrated, for example, as a head mounted display. Furthermore, the 3D image display means accumulates image data of actual travel routes that do not necessarily need to generate an image by computer graphics, and generates an image base rendering (IBR) for their bit stream power. Also good.

[0041] Next, the parallax images generated in the left visual field PC4A and the right visual field PC4B will be described.

[0042] FIG. 2 is a diagram showing, as an example, a real space where the driver looks at the screen and a virtual space where the virtual camera hitting the eyes in the PC sees through the virtual plane.

[0043] In image generation in the left visual field PC4A and the right visual field PC4B, a virtual space (corresponding to a visual frustum) within a certain range viewed by a virtual camera corresponding to a human eye through a virtual plane is a screen in front of the driver. Projected on. Therefore, it is necessary to make the relationship between this virtual space and virtual camera the same as the relationship between the driver and the screen in real space.

[0044] As shown in Fig. 2 as a real space, the interpupillary width of humans (drivers) is 63mm on average and 31.5mm on the left and right respectively. Therefore, the images generated by the left visual field PC4A and the right visual field PC4B generate the left eye image and the right eye image by shifting the left and right virtual cameras 4a and 4b, respectively.

[0045] Next, since the distance between the left and right eyes of the driver and the screen 6 is set to 1775. 5mm and the width of the screen 6 is set to 1422mm, the width of the virtual plane 4x and 4v is set to 800mm. You Therefore, since the relationship between the driver's left and right eyes and the screen 6 and the relationship between the virtual cameras 4a and 4b and the virtual planes 4x and 4y in the virtual space must be similar, the left vision PC4 A The distance between the virtual cameras 4a and 4b and the virtual planes 4x and 4y of the right field of view PC4B is lm.

Accordingly, as shown in FIG. 2 as a virtual space, the left eye virtual camera 4a of the left visual field PC4A is shifted to the left by 31.5 mm from the center of the virtual plane 4x, and the right eye of the right visual field PC4B. The virtual camera 4b is shifted 31.5mm to the right from the center of the virtual plane 4y to generate a landscape within a certain range that can be seen through the 800mm virtual plane 4x, 4y, 1000mm ahead of the virtual cameras 4a and 4b. If each generated landscape is projected from the projector, the driver can accurately stereoscopically view the projected image.

Here, the projector according to the present embodiment is arranged with height adjustment at a position where the shadow of the driver is not reflected on the screen 6. For this reason, the distance from the left projector 3A and the right projector 3B to the upper and lower portions of the screen 6 is different. Therefore, the projector is provided with a keystone correction function so that the landscape projected on the screen 6 does not deform into a trapezoid.

FIG. 3 is a diagram showing, as an example, the relationship between the 3D image generation processing timing by the left viewing PC and the right viewing PC and the processing timing by the vehicle PC.

[0049] As shown in FIG. 2, the image generated by the left view PC4A and the right view PC4B and transmitted to the screen through the left projector 3A and the right projector 3B is only the interpupillary width. It must be equivalent to the one that was taken at the same time by shifting the virtual camera. Therefore, the scenery generated by the left view PC4A and the right view PC4B and projected from the left projector 3A and the right projector 3B needs to be synchronized for each frame of the image. Moreover, it is preferable to process each frame in about 1 / (30 to 60) seconds.

In FIG. 3, the interval at which the generated image of one frame is projected on the screen is defined as one period T.

[0051] In each cycle, the vehicle PC 20 calculates the displacement, travel speed, and pressure of the vehicle due to the vehicle swing or the curve of the track by the vehicle model. Thus, the left visual field PC4A and the right visual field PC4B are supplied simultaneously. The calculated running speed and pressure are displayed on the instrument panel 21.

[0052] The left field of view PC4A calculates the coordinates of the virtual camera (viewpoint) with respect to the displacement caused by the track, the tangible object along the track, the sway of the vehicle, or the curve of the track based on the displacement and travel speed of the supplied vehicle. The rendering of the 3D model is performed, and one frame of the generated image is notified to the vehicle PC 20 at timing B1 and temporarily stored in the buffer memory.

[0053] The right field of view PC4B calculates the coordinates of the virtual camera (viewpoint) with respect to the displacement caused by the track, the tangible object along the track, the sway of the vehicle, or the curve of the track, based on the supplied displacement and traveling speed of the vehicle. The rendering of the 3D model is performed, and one frame of the generated image is notified to the vehicle PC 20 by the timing B2 and temporarily stored in the buffer memory.

[0054] Then, the vehicle PC20 confirming that the notification has been received from both the left visual field PC4A and the right visual field PC4B visualizes each image temporarily stored in the buffer memory at timing C when one cycle T has elapsed. At the same time, the visualized images are output to the left projector and the right projector, respectively.

[0055] The left projector and the right projector simultaneously superimpose and project 2D parallax images on the screen.

[0056] Next, an image generation process for generating a forward landscape in accordance with the progress of a virtual train will be described.

FIG. 4 is a cross-sectional structure diagram showing a frame constituting an image representing the front scenery, and FIG. 5 is a plan structure diagram showing a frame constituting the image representing the front scenery.

As shown in FIGS. 4 and 5, the image generated by the left view PC and the right view PC has a camera frame 100 showing a view that can be viewed from the virtual camera through a virtual plane. A train frame 101 indicating the position of a virtual train is formed on 100, and a base frame 102 indicating the ground is formed on the train frame 101. On the base frame 102, a block frame 103 in which unit blocks of the front scenery are sequentially replenished according to the progress of the virtual train is formed. On the block frame 103, the track of the own line and the other line is formed. , Traffic lights, platforms, standing trees, buildings, and other structures (tangible objects) are formed. [0059] As shown in FIG. 5, the landscape (structure within the range of entering the frustum stand) seen from the virtual camera through the virtual plane is replenished for each block in the traveling direction of the virtual train. In other words, every time a virtual train passes one block, one block is added.

[0060] On the other hand, the virtual camera moves in accordance with the traveling speed of the virtual train and moves through the virtual plane from the left and right viewpoints of the train moving through the three-dimensional model formed by a plurality of blocks included in the frustum base. The viewed image is generated by each of the left view PC and the right view PC. As a result, the scenery that can be seen from the driver's seat of the virtual train moves backwards sequentially according to the traveling speed, and it appears to the driver that the virtual train is running.

FIG. 6 is a diagram showing a flowchart in which images are generated in the left visual field PC and the right visual field PC.

[0062] As shown in FIG. 6, when image generation processing is started in step S30, device generation and attribute setting are performed in the programs stored in the left view PC and the right view PC in step S31. .

[0063] Next, in step S32, information such as the length of the body of the virtual train, the position of the carriage, and the viewpoint position of the driver is received from the memory unit of the vehicle PC.

[0064] Then, in step S33, the structures constituting the forward scenery such as tracks, traffic lights, platforms, buildings, standing trees, etc. are read from the memory units of the left view PC and the right view PC, and further in step S34. Self-track curve, slope, roadbed, track deviation level and friction coefficient, position and roadbed of other lines, signal equipment such as traffic lights and ground elements, station stop position and boarding rate, preceding train diagram, structure arrangement Read trajectory information including position and placement method.

[0065] On the other hand, the vehicle PC is based on the vehicle model, and the displacement of the vehicle due to vehicle swings such as left and right displacement Y, up and down displacement Ζ, roll angle φ, pitch angle Θ, and single angle φ, and track curves.

The travel distance of the train starting from the first station is calculated.

[0066] Here, the displacement of the vehicle due to the shaking of the vehicle or the curve of the track is combined with the moving distance of the train, which is referred to as vehicle displacement.

[0067] Each of the left view PC and the right view PC receives vehicle displacement information from the vehicle PC in step S35, and sets the travel distance of the train in the vehicle displacement information received in step 36. Based on this, the position and orientation of the vehicle relative to the ground are calculated.

[0068] Then, in step S37, it is determined whether or not the vehicle has exceeded the block boundary based on the calculated position and orientation of the vehicle. If the vehicle has exceeded the block boundary, a measurement is performed in step S38. A new block is arranged based on the own line data stored in the memory unit, and a structure according to the arrangement method information is arranged on the new block. Here, there is a block boundary every 25m.

Here, in the arrangement of the structure, first, the position and orientation of the block frame are calculated from the own line data, and are arranged on the base frame. In addition, the position and orientation of the other line frame are calculated from the other line data, and are arranged in the block frame. Furthermore, it is executed by placing structures that make up the forward landscape, such as tracks, traffic lights, platforms, buildings, and standing trees, on any frame.

Next, in step 39, the vehicle is moved according to the position and orientation of the vehicle with respect to the ground.

Here, the base frame moves by calculating the position and orientation of the base frame relative to the train frame based on the calculated position and orientation of the vehicle. This changed the position and direction of the train relative to the ground.

[0072] Further, the train frame moves by calculating the position and orientation of the train frame relative to the camera frame based on the displacement of the vehicle due to the shaking of the vehicle received from the vehicle PC. This caused the vehicle to swing relative to the track.

[0073] Next, rendering is performed to generate a 2D image from the three-dimensional model constructed in step S40.

When rendering is completed, a completion notification is sent to the vehicle PC in step S41, and one frame of the generated image is temporarily stored in the buffer memory.

[0074] On the other hand, the vehicle PC outputs each 2D image temporarily stored in the buffer memory to the projector at a predetermined timing when the completion notification is received from both the left vision PC and the right vision PC in Step 42. Order.

[0075] The left view PC and the right view PC simultaneously output the respective 2D images and project them onto the screen via the projector. Thereafter, the same operation is repeated, and the image is 30 per second.

~ 60 frames are projected. [0076] Next, the vehicle shake will be described.

[0077] Fig. 7 is a schematic diagram for explaining the shaking of the vehicle.

FIG. 7A is a reference example in which the vibration device 27 is provided in the vehicle 2.

[0079] The vibration device 27 has a structure that shakes the floor of the vehicle 2, and thereby reproduces the shaking of the entire vehicle 2. In this case, the left view PC and the right view PC are A landscape can be generated and projected on the screen without taking into account the displacement caused by the shaking of the vehicle.

FIG. 8B is a schematic diagram showing a case where the vehicle 2 swings with reference to the ground and a case where the ground swings with reference to the floor of the vehicle 2.

[0081] As shown in FIG. 8 (B), the movement and rotation of the landscape and the displacement of the vehicle are relatively the same for the observer on the vehicle. I feel like it's shaking.

Therefore, in the case of a railway driving simulator in which the driver's seat is fixed, the scenery on the ground is shaken, that is, the image projected on the screen is shaken (the position where the image is taken is moved). Similar results can be obtained.

Next, the vehicle model will be described in detail.

[0084] The vehicle model is configured by a numerical analysis model and parameters for performing calculation from trajectory deviation or the like to calculation of body shake, and is incorporated in the vehicle PC 20.

[0085] The vehicle PC 20 of the present embodiment uses the vehicle model incorporated in the memory unit based on the traveling speed of the virtual train and the like, left and right y, up and down z, rolling φ, pitching Θ, and keying Φ. Calculate the amount of displacement.

[0086] The left view PC4A and the right view PC4B move and rotate a landscape image represented by computer graphics based on the amount of displacement calculated by the vehicle PC20 to generate a "swinging landscape image" on the screen. Project to.

[0087] Thereby, a person who sees the landscape image from a fixed vehicle feels that the vehicle 2 is shaking.

8 and 9 are diagrams showing an example of the vehicle model.

In the vehicle model shown in FIGS. 8 and 9, a vibration system including a vehicle body, an air spring, and a left and right motion damper is modeled in order to simulate the shaking of the vehicle. FIG. 8 (A) is a vehicle model showing the entire vehicle, and FIG. 8 (B) shows the input and output of the vehicle model. 9A is a vehicle model representing the left and right planes of the vehicle, and FIG. 9B is a vehicle model representing the front and back planes of the vehicle.

[0091] The vehicle models in Fig. 8 (A), Fig. 9 (A), and Fig. 9 (B) are given trajectory error y, ζ, φ, y, z, φ calculated according to the creation of the trajectory. Left and right y, up and down z

BF BF BF BR BR BR BR

, Rolling φ, pitching θ, winging φ force The vehicle displacement amount is calculated by five vibration patterns.

[0092] As shown in FIG. 8 (B), the vehicle shake is caused by a track deviation, cant, inertial force, irregular pressurization by passengers, gravity, etc. In addition to, cant (to raise the outer rail on the curve) φ, φ, inertia, passengers

BF BR

The force applied by can be input.

[0093] It should be noted that the reason why Kant and trajectory error are the same is because trajectory error includes Kant. The inertial force acts on the position of the center of gravity of the vehicle body 2.

[0094] Based on such a vehicle model, the vibration (swing) of the vehicle 2 is reproduced, but the left field of view is reproduced.

When the images are generated by the PC 4A and the right field of view PC 4B, the shaking of the vehicle 2 may be reflected, and the generated image is moved (shake) based on the displacement amount of the vehicle 2.

).

[0095] Note that vibration below the floor of the vehicle 2 is not considered here.

[0096] Next, the trajectory error used in the vehicle model will be described.

FIG. 10 is a diagram showing a situation where a trajectory error is created.

[0098] As shown in FIG. 10, a new track error is created each time the vehicle travels one block from the left to the right. There are irregular irregularities in the trajectory, and the irregular irregularities occur due to the irregular irregularities.

[0099] This trajectory error can be obtained by passing a random number (white noise) through the filter of the first-order lag element, which is the same as the actual trajectory.

[0100] Here, when one block is set to 25 m, information on the driving position and the driving speed is generated by the vehicle PC 20, and when it is determined that the vehicle 2 has advanced 25 m by the generated information Each time, a new trajectory is created and the old trajectory is deleted. Therefore Orbital deviation is calculated in units of 25m (1 block).

[0101] In the railway driving simulator of the present embodiment, the track deviation is calculated while the vehicle 2 is traveling. The trajectory error is calculated using Equations 1 to 4.

[0102] Fig. 11 shows an example of such a trajectory error calculated in units of blocks.

[0103] [Equation 1]

Also, enter a random number in u above. when x = 0, y = y, when the distance is x = h, y

0

Calculated using Equation 2.

[0104] [Equation 2]

Based on Equations 1 and 2, by repeating the programs shown in Equations 3 and 4, irregular irregular trajectories are calculated.

[Equation 3]

2

Here, α shown in Equation 3 is a random number of −1≤α <1. [0106] [Equation 4]

y _n = z + (y _n _ _x one z) exp (-2 ^ i ^)

Next, irregular pressurization applied to the vehicle when passengers get on and off will be described.

FIG. 12 is a diagram for explaining irregular pressurization applied to the vehicle.

In FIG. 12, when the occupancy rate is shown on the vertical axis and the time is shown on the horizontal axis, the transition of the occupancy rate when passengers get on and off is shown by a solid line graph.

[0109] When the door of vehicle 2 is opened at time t41 and the passenger gets off, the boarding rate decreases. And when passengers get off, new passengers get on, and the boarding rate rises. When passengers get on and off at time t42, the door of vehicle 2 is closed at time t43.

[0110] From time t41 to time t43 is the shortest stop time, and from time t41 to time t42 is the getting on / off time T40.

[0111] Passenger boarding / exiting is simulated by defining the boarding rate and the shortest stop time at each station on the virtual train route, and using the defined boarding rate and the shortest stop time. .

[0112] The shaking of the vehicle as passengers get on and off is simulated by applying an irregular force to one point of vehicle 2. Specifically, for example, the number of passengers (2a) getting off in FIG. 12 is twice that of passengers (a), so the magnitude of shaking the vehicle 2 is also doubled. In order to eliminate the unnaturalness that the shaking stops suddenly after the boarding / exiting time, a small shaking may be generated until the door is closed.

[0113] Next, the brake noise output from the speaker 1 in accordance with the scenery will be described.

[0114] Fig. 13 is a diagram showing the rolling sound of the brake, Fig. 13 (A) shows the volume to be changed according to the speed, and Fig. 13 (B) is the brake sound when the speed is changed. Indicates the coefficient of friction.

[0115] The vehicle PC 20 responds to the operation of the controller 22 and displays a display on the instrument panel 21. When calculating the pressure of the valve and the running speed v, the actual train sound is recorded, the sound data stored in the memory unit is played, and the brake sound is generated. Volume A and frequency are changed according to the calculated brake valve pressure and travel speed V.

[0116] As a result, an acoustic force close to that of a real vehicle is output from the S speaker 1.

[0117] The volume A increases in proportion to the pressure of the brake valve (BC pressure P) as shown in Equation 5, and also changes according to the speed V as shown in Equation 6.

[0118] [Equation 5]

A = ~ g (v)

1

[0119] [Equation 6]

V ¹

g (v) = -e ^Vl

Note that FIG. 13A is a graph showing the change according to Equation 6.

Further, as shown in Equation 7, the frequency f varies depending on the BC pressure P and the friction coefficient μ of the brake, that is, the braking force.

[0120] [Equation 7]

o FIG. 13B is a diagram showing the relationship between μ / μ in Equation 7 and the traveling speed.

0

[0121] As a result, in the vehicle PC 20, the actual recording in which the volume and frequency of the sound output from the speaker 1 is changed according to the BC pressure obtained according to the operation of the controller 22 and the running speed is reproduced. Therefore, it can give the driver a sense of realism and tension as if he were actually driving a train.

[0122] Next, the operation in the railway driving simulator shown in FIG. 1, in particular, the vehicle PC20, the left field of view PC4A, and the right field of view PC4B (here, for the sake of explanation, the view display PC4 is displayed including both of them) The operation of) will be described.

FIG. 14 is a diagram for explaining the operation of the railway driving simulator.

[0124] In FIG. 14, the railway driving simulator includes the controller 22, the vehicle PC20, the left field of view PC4A, and the right field of view PC4B (here, the same operation is performed. PC4 is displayed), speaker 1, left projector 3 3 and right projector 3Β (here, the same action is performed, so projector 3 including both is displayed for convenience of explanation. )) And screen 6.

[0125] Vehicle PC20 has its own curve, slope, roadbed, track error level and friction coefficient, position and roadbed of other lines, signal equipment such as traffic lights and ground elements, station stop positions and boarding rates, leading trains , A track information line including the layout position and layout method of the structure, a memory storing route data 200 including route sound, such as train trains, in-car broadcasts, warning lights of traffic lights, etc. Including vehicle characteristic information, instrument panel image attribute information, train running sound, vehicle data including vehicle sound such as door opening / closing sound, memory for storing vehicle 201 Train control processing unit 202, signal control processing unit 203 that controls signal display and alarm sound, operation by controller 22, ATS and ATC etc. in cooperation with preceding train control processing unit 202 and signal control processing unit 203 function Operation by the safety device control processing unit 204, the conductor control processing unit 205 and the door control processing unit 206 that control the opening and closing of the train doors, the passenger control processing unit 207 that controls the entry and exit of virtual passengers at each station, and the operation by the controller 22 The drive control processing unit 208 that calculates the travel speed and travel position of the virtual train according to the track, the track control processing unit 209 that reads the track information of the route based on the track data and sets the parameters in the vehicle model, the track control Based on the parameters supplied from the control processing unit 209, the traveling speed and traveling position supplied from the drive control processing unit 208, and passenger information supplied from the passenger control processing unit 207, the displacement due to the shaking of the vehicle is calculated. A vehicle model calculation processing unit 210; and a sound generation processing unit 211 that reproduces route sound and vehicle sound stored in the memory.

[0126] The visibility display PC 4 is a memory unit (storage unit of the present invention) that stores landscape data 400 representing tangible objects such as tracks, traffic lights, platforms, and buildings that generate images representing the front landscape of the driver's seat. And image generation control that generates a landscape developed in front of the driver based on the landscape data 400 and information representing the travel speed, travel position, and vehicle displacement supplied from the vehicle PC 20. A processing unit 401 is included.

First, when the driver performs an operation by operating the controller 22, a signal corresponding to the operation is input to the drive control processing unit 208 (step Sl).

Then, the route data 200 stored in the memory is read out, and the preceding train control processing unit 202, the signal control processing unit 203, the security device control processing unit 204, the conductor control processing unit 205, and the passenger control processing unit 207 Is supplied to the drive control processing unit 208 (step S2).

[0129] Further, the vehicle data 201 stored in the memory is supplied to the security device control processing unit 204 and the drive control processing unit 208 (step S3).

[0130] The preceding train control processing unit 202 supplies the traveling position information of the preceding train generated based on the route data 200 to the signal control processing unit 203 (step S4).

[0131] The signal control processing unit 203 supplies signal information to be displayed on the traffic light to the safety device control processing unit 204 based on the supplied traveling position information of the preceding train (step S5).

The security device control processing unit 204 sends data related to the security function to the drive control processing unit 208 (step S6).

The security device control processing unit 204 sends alarm information to the sound generation processing unit 211 based on the supplied data relating to the security function (step S 7).

[0134] The conductor control processing unit 205 uses the route data 200 read from the memory and the driving control unit 208 to generate door control information, in-car broadcast information, The buzzer information is generated, and the generated information is sent to the door control processing unit 206 and the sound generation processing unit 211 (step S8). [0135] The door control processing unit 206 sends the door opening / closing information to the passenger control processing unit 207, the sound generation processing unit 211, and the security device control processing unit 204 based on the door control information (step S9).

[0136] Passenger control processing unit 207 calculates passenger weight information to drive control processing unit 208 based on the boarding rate and the shortest stop time included in route data 200 read from the memory, and vehicle model calculation of boarding / alighting information. The data is sent to the processing unit 210 (step S10).

[0137] The drive control processing unit 208 calculates the traveling speed, traveling position, etc. of the virtual train based on the track data and vehicle data read from the memory, and determines the traveling speed and traveling position by the conductor control processing unit. The travel position is sent to 205 (step S11), the travel position is sent to the trajectory control processing unit 209, and the acceleration and travel position are sent to the vehicle model calculation processing unit 210 and the sound generation processing unit 211 (step 14).

Note that the trajectory control processing unit 209 calculates a trajectory error and sends it to the vehicle model calculation processing unit 210 (step S 13).

[0139] The vehicle model calculation processing unit 210 calculates the displacement of the spring and sends it to the sound generation processing unit 211.

(Step S15).

The drive control processing unit 208 supplies the travel position and travel speed to the image generation processing unit 401 (Step S 16).

[0141] The vehicle model calculation processing unit 210 calculates the displacement (vehicle body displacement) due to the shaking of the vehicle, and sends the calculated vehicle body displacement to the image generation processing unit 401 of the visibility display PC 4 (step S17).

[0142] On the other hand, the view display PC 4 reads the landscape data 400 stored in the memory unit and sends it to the image generation processing unit 401 (step S18). The image generation processing unit 401 receives from the drive control processing unit 208. Based on the supplied travel position and travel speed and the vehicle model calculation processing unit 210 force, the vehicle body displacement is generated to generate an image representing 'swaying landscape', and the generated frame based on the command of the vehicle PC20 Each image is supplied to the projector 3 (step S19).

[0143] The projector 3 supplies the generated image to the screen 6 (step S21).

On the other hand, the sound generation processing unit 211 outputs sound reproduced based on the supplied alarm information, broadcast information, buzzer information, and the like from the speaker 1 (step S20).

[0144] As described above, the railway driving simulator according to the present invention is adapted to the vehicle operation according to the operation of the vehicle. Controls the driving state, and displays the view from the virtually traveling vehicle as a three-dimensional “swinging landscape” based on the traveling position and traveling speed, and the vehicle body displacement due to the vehicle shaking. A running sound, a traffic light warning sound, and a vehicle roaring sound are output according to the displayed image, so that a sense of reality and tension as if driving an actual train can be obtained. In addition, when a command is issued from the command PC, predetermined data stored in the memory unit is selected, and the simulator environment can be flexibly set and changed.

This international application claims priority based on Japanese Patent Application No. 2004-361695 filed on December 14, 2004, and the entire contents of 2004-361695 are incorporated into this international application.

Claims

The scope of the claims

[1] In a railway driving simulator in which scenery is displayed in 3D on the screen in front of the driver's seat in accordance with the operation of the driver by a driver wearing polarized glasses, and the operating state is displayed on the driver's seat display ,

Train control means for determining a travel speed of a virtual train in accordance with an operation of the operation means, and determining a travel position of the virtual train based on the determined travel speed and elapsed time; and the virtual train travels A storage unit storing data relating to a track and a tangible object arranged along the track, and the left and right eyes of the virtual driver according to the travel speed and the travel position obtained by the train control means 3D image generation means for generating each scene that can be seen from the eyes;

3D image display means for projecting each landscape generated by the 3D image generation means onto the screen via polarizing plates whose polarization axes are orthogonal to each other, and the train control means includes the 3D image generation means A railway driving simulator characterized in that, when each landscape visible from the left eye and the right eye is generated, each generated landscape is simultaneously projected from the 3D image display means.

[2] The operation means includes a master controller that changes a traveling speed of the virtual train and a brake valve that applies pressure to a brake wheel that brakes the virtual train.

The display means has an instrument panel for displaying a traveling speed and pressure, and the train control means is configured to display the traveling speed changed by the master controller and the pressure applied by the brake valve. The railway driving simulator according to claim 1, wherein the simulator is displayed on a panel.

[3] The train control means includes:

A memory in which data relating to vehicles constituting the virtual train and data including position information of traffic lights and platforms arranged along the track are stored, and the traveling speed and the traveling position are obtained and stored in the memory The railway operation according to claim 1, further comprising: a calculation unit that obtains a displacement including a shake of a vehicle constituting the virtual train at each position on the track using the stored data. for Simulator.

[4] The train control means controls a signal control unit that controls display of the traffic light and opening / closing of the entrance / exit door of the virtual train based on the travel speed and the travel position obtained by the calculation unit. The railway driving simulator according to claim 3, further comprising a door opening / closing control unit.

[5] The 3D image generation means generates a left-eye 3D image generation unit that moves the scenery seen from the left eye based on the displacement obtained by the calculation unit, and the generated right eye force 4. The railway driving simulator according to claim 3, further comprising a right-eye 3D image generation unit that moves a viewable landscape.

[6] The 3D image display means includes a left-eye 3D image projecting unit that projects and moves the scenery generated and moved by the left-eye 3D image generating unit and the right-eye image. 6. The railway driving simulator according to claim 5, further comprising a right-eye 3D image projecting unit that projects the landscape generated and moved by the 3D image generating unit through the polarizing plate.

[7] The train control means includes a running sound generated according to the running of the virtual train, and a number of warning sounds of the signal based on data relating to running sounds and warning sounds stored in the memory. 4. The railway driving simulator according to claim 3, further comprising a sound generation unit that generates sound and outputs the sound to a predetermined speaker.

[8] When the brake valve is operated, the sound generation unit is configured to output a volume of data relating to a roaring sound stored in the storage unit according to the traveling speed and the pressure displayed on the instrument panel. 8. The railway driving simulator according to claim 7, wherein the frequency is changed and output from the predetermined speaker.

[9] The 3D image generating unit for the left eye and the 3D image generating unit for the right eye may be configured to use the data stored in the storage unit according to the travel speed and the travel position obtained by the calculation unit. By forming a solid model of a certain range of a tangible object placed along the track and along the track, and rendering the virtual driver with the corresponding left eye or right eye as the viewpoint, a 2D image Each landscape is generated and notified to the train control means.

The train control means includes the left-eye 3D image generation unit and the right-eye 3D image generation unit. When the notification is received from both, the generated scenery is projected onto the screen simultaneously from both the left-eye 3D image display unit and the right-eye 3D image display unit. Item 5. The railway driving simulator according to item 5.

[10] Each of the 3D image generation unit for the left eye and the 3D image generation unit for the right eye is set with a unit block for replenishing the line and the tangible object in the traveling direction as the virtual row advances. And determining the position of the vehicle based on the displacement accompanying the traveling of the virtual train, and depending on the determined position, the viewpoint of the corresponding left eye or right eye of the virtual driver is determined. The railway driving simulator according to claim 9, wherein the scenery is generated by moving the respective scenery.

[11] Provided with command means for selecting a simulation environment including a travel route of the virtual train and a type of vehicle constituting the virtual train, and giving a command to the train control means and the 3D image generation means The railway driving simulator according to claim 1.