Navigation simulator, information processing device, information processing system and computer program

Abstract

Navigation simulator (HW4), comprehensive: a scenario capture unit configured to capture a test scenario from an external device containing a signal from the simulator's internal sensor, wherein the signal from the simulator's internal sensor represents motion information detected by a simulator's internal sensor (404) when a vehicle travels on a predetermined route, the simulator's internal sensor (404) being installed in the navigation simulator (HW 4); an emulation function unit (405b) configured to generate an emulated sensor signal obtained by emulating a signal from the sensor integrated in the car navigator based on the signal from the simulator-internal sensor included in the test scenario, wherein the signal from the sensor integrated in the car navigator represents motion information detected by a sensor (503) installed in the car navigation system and integrated in the car navigator; a signal output circuit configured to output the emulated sensor signal generated by the emulation function unit (405b) to the car navigation system; and a register to which the same memory address as the sensor (503) integrated in the car navigator is assigned, wherein the register is configured to hold the emulated sensor signal, wherein the emulation functional unit (405b) is configured to read the emulated sensor signal, which corresponds to a sensor signal, from the register in response to a request from the car navigation system for the sensor signal.

Description

AREA

[0001] The embodiments described herein generally relate to a navigation simulator, an information processing device, an information processing system and a computer program. STATE OF THE ART

[0002] US 8,423,284 B2 describes a test system adapted to evaluate navigation systems. The test system comprises: a recording system designed to capture and record signals received and interpreted by a navigation system during field operation; a time-synchronized database designed to receive and store data representing the signals captured and recorded by the recording system; the stored data being usable for testing the functionality of one or more navigation systems under test.

[0003] US Patent 5,922,041 A describes a navigation simulator and recorder comprising a computer and several positioning and orientation devices installed in a vehicle traveling along a test track. Data from the positioning and orientation devices are stored in the computer as the vehicle travels the test track. The data recorded during the test drive is then used to test a navigation system. The output of the navigation system under test is monitored to determine its response to the data recorded in real time.

[0004] KR 10 2017 0 021 489 A concerns a navigation sensor simulator that uses test run data. The navigation sensor simulation can be very realistic because a sensor signal is generated from the ship test run data that is very similar to that of the navigation sensor actually installed on a device.The navigation sensor simulator, which utilizes the test run information, is implemented by the following components: a test run information processor, which classifies the input test run information and analyzes the noise information contained in the sensor signal by frequency domain analysis for database creation; a sensor data generator, which generates sensor data using a simulation program based on an analytical model, a noise signal using a noise frequency from a sensor acquired by the test run information processor, and generates sensor data by combining the sensor data with the noise signal; and a signal converter, which converts the sensor data generated by the sensor data generator into the same form as a signal input into the actual equipment and transmits it to a control system.

[0005] US 6,298,318 B1 describes a real-time IMU emulation method for a guidance, navigation, or control (GNC) system. This method includes receiving real-time flight data from a 6DOF flight simulator, generating simulated IMU electronic signals according to user-defined IMU measurement and fault modules, and feeding these simulated IMU electronic signals into an onboard GNC system, thus making the onboard GNC system "think" the vehicle is actually moving. The onboard GNC system installed in the vehicle remains stationary during emulation testing, allowing tests to be conducted in a laboratory or anechoic chamber. The IMU emulation provides a simple, effective, and unobtrusive way to feed emulated IMU signals into the INS computer.

[0006] DE 10 2016 224 042 A1 relates to a method for checking high-precision HD map data for the implementation of driver assistance functions in motor vehicles, comprising the following steps: providing HD map data, performing a simulation in which a vehicle is virtually moved over one or more routes defined by the HD map data, checking vehicle parameters during the simulation based on predefined test conditions; and detecting faulty HD map data depending on whether the test conditions are met.

[0007] Technologies have been developed for performing operational verification of vehicle navigation systems using a desktop simulation system. One example of such a technology involves placing a car navigation system, serving as the test target, on a turntable platform. The turntable is then rotated in accordance with a signal from the Global Navigation Satellite System (GNSS) output by a GNSS simulator to simulate a driving condition, such as turning a vehicle (for example, JP H5-108009 A and JP 2014-98994 A).

[0008] However, with the technology described above, the vehicle's driving state is only simulated by rotating the turntable, meaning the vehicle's driving state can only be reproduced by a single-axis rotation. Therefore, problems arise in that it is difficult to simulate a sensor installed in the vehicle, such as an accelerometer, and the system size can increase.

[0009] The present disclosure provides a navigation simulator, an information processing device, an information processing system and a computer program, each of which is capable of electrically executing a sensor signal required for the operational verification of a vehicle navigation system in order to implement the execution of the operational verification of the vehicle navigation system. SUMMARY

[0010] A navigation simulator according to the invention is defined in claim 1.

[0011] With the navigation simulator according to the present disclosure, the operational verification of a car navigation system can be carried out by electrically executing a sensor signal required for the operational verification of the car navigation system. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a diagram that illustrates an example of a configuration of an information processing system according to the present embodiment; Fig. Figure 2 is a diagram that illustrates an example of a functional configuration of a navigation simulator HW according to the present embodiment; Fig. Figure 3 is a diagram that illustrates an example of a functional configuration of a PC according to the present embodiment; Fig. 4 is a flowchart that illustrates an example of the sequence of a recording process of actual vehicle driving test protocol data in the information processing system according to the present embodiment; Fig. Figure 5 is a flowchart that illustrates an example of the sequence of a virtual route data generation process in the information processing system according to the present embodiment; Fig. Figure 6 is a flowchart that illustrates an example of the flow of an output process of a navigation simulator scenario in the information processing system according to the present embodiment; Fig. Figure 7 is a diagram illustrating an example of an execution process of a navigation simulator scenario in the information processing system according to the present embodiment; Fig. Figure 8 is a diagram illustrating an example of an execution process of a navigation simulator scenario in the information processing system according to the present embodiment; and Fig. Figure 9 is a diagram that illustrates an example of an execution process of a navigation simulator scenario in the information processing system according to the present embodiment. DETAILED DESCRIPTION

[0012] The following describes embodiments of a navigation simulator, an information processing device, an information processing system and a computer program according to the present disclosure with reference to the drawings.

[0013] Fig. Figure 1 is a diagram illustrating an example of an information processing system configuration according to the present embodiment. As shown in Fig. As shown in Figure 1, the information processing system according to the present embodiment comprises a personal computer (PC) 1, a GNSS (Global Navigation Satellite System) simulator 2, a signal splitter 3, a navigation simulator HW 4 and a test target 5.

[0014] The PC 1 is an example of an information processing device. The PC 1 generates a GNSS simulation scenario and a navigation simulator scenario based on actual vehicle test drive log data (an example of a test drive log file) or virtual route data (an example of a virtual driving scenario).

[0015] The driving log data of the actual vehicle contains a signal from the simulator's internal sensor. This signal represents motion information (e.g., angular velocity and acceleration) detected by an internal sensor 404 (see Fig. 2) The signal from the simulator's internal sensor is represented by a dimensionless quantity. The simulator's internal sensor 404 is installed in the navigation simulator HW 4. In the present embodiment, the actual vehicle test log data includes a vehicle signal representing vehicle information (e.g., vehicle speed and CAN information). The vehicle information is acquired by the navigation simulator HW 4.

[0016] The virtual route data contains a virtual sensor signal. This virtual sensor signal represents motion information acquired by the simulator's internal sensor when the vehicle is virtually driving along a predefined route. The virtual sensor signal is represented by a physical quantity. In the present embodiment, the virtual route data includes a vehicle signal relating to a vehicle when the vehicle is virtually driving along a predefined route.

[0017] The GNSS simulation scenario includes position and time information for a vehicle traveling a predetermined route. Furthermore, the navigation simulator scenario is an example of a test scenario that includes a signal from the simulator's internal sensor or a virtual sensor signal. In the present embodiment, the navigation simulator scenario includes, in addition to the signal from the simulator's internal sensor or the virtual sensor signal, position and time information for a vehicle traveling a predetermined route.

[0018] The GNSS simulator 2 is connected to PC 1. Using simulation, the GNSS simulator 2 generates a GNSS signal representing the vehicle's position information (hereinafter referred to as an emulated GNSS signal) based on the position information contained in the GNSS simulator scenario generated by PC 1. In one example, the GNSS simulator 2 is connected to PC 1 via a serial bus standard, such as a universal serial bus (USB) or Ethernet (registered trademark). The GNSS simulator 2 outputs the emulated GNSS signal and the time information to the signal splitter 3. The GNSS simulator 2 is also referred to as a signal generator.

[0019] Signal splitter 3 outputs the emulated GNSS signal and the time information, which is output by GNSS simulator 2 via radio frequency (RF) or similar, to test target 5. Signal splitter 3 also outputs the emulated GNSS signal and the time information, which is output by GNSS simulator 2, to navigation simulator HW 4.

[0020] The navigation simulator HW 4 (an example of a navigation simulator) is connected to PC 1 via a serial bus standard, such as USB. The navigation simulator HW 4 receives the navigation simulator scenario from PC 1. The navigation simulator HW 4 generates an emulated sensor signal, which is obtained by emulating a signal from the sensor integrated in the car navigator based on a signal from the simulator's internal sensor or a virtual sensor signal included in the navigation simulator scenario. The signal from the sensor integrated in the car navigator represents motion information detected by a sensor 503, also integrated in the car navigator, installed at test target 5. The navigation simulator HW 4 outputs the generated emulated sensor signal to test target 5.Furthermore, the navigation simulator HW 4 generates an emulated vehicle signal based on the vehicle signal contained in the navigation simulator scenario, which is obtained by emulating the vehicle signal with respect to the vehicle, and outputs the generated emulated vehicle signal to the test target 5.

[0021] In the present embodiment, the navigation simulator HW 4, based on the emulated GNSS signal and the time information input from the signal splitter 3, outputs the emulated sensor signal and the emulated vehicle signal synchronously with the output of the emulated GNSS signal from the signal splitter 3 to the test target 5.

[0022] Test target 5 is an example of an in-vehicle device or car navigation system installed in a vehicle. In the present embodiment, test target 5 is equipped with a GNSS receiver 501, a vehicle signal receiver 502, a sensor 503 integrated into the car navigator, a central processing unit (CPU) 504, a storage device 505, a display device 506, an input device 507, and a communication device 508.

[0023] The GNSS receiver 501, for example, is a GPS (Global Positioning System) receiver. The GNSS receiver 501 measures the vehicle's position using a signal transmitted by an artificial satellite and receives a GNSS signal (e.g., a GPS signal) indicating the measured position. The GNSS receiver 501 converts the received GNSS signal into position information, including time information. The GNSS receiver 501 outputs the converted position information to the CPU 504. Additionally, when verifying the operation of the test target 5, the GNSS receiver 501 receives the emulated GNSS signal from the signal splitter 3 and outputs the emulated GNSS signal to the CPU 504.

[0024] The vehicle signal receiver 502 receives vehicle signals, such as a vehicle speed pulse and CAN information, from the vehicle via a vehicle wiring harness and outputs the received vehicle signals to the CPU 504. Additionally, when verifying the operation of the test target 5, the vehicle signal receiver 502 receives the emulated vehicle signal from the navigation simulator HW 4 and outputs the received emulated vehicle signal to the CPU 504.

[0025] The sensor 503 integrated in the car navigator detects vehicle movements, such as rotation, tilt, and acceleration. The sensor 503 outputs a signal to the CPU 504, representing information corresponding to the detected movement. For example, the sensor 503 outputs the angular velocity when rotation is detected and the acceleration when acceleration is detected. In this embodiment, the sensor 503 comprises an accelerometer 503a and a gyroscope 503b. The accelerometer 503a detects the vehicle's acceleration and tilt. The gyroscope 503b detects the vehicle's rotation.

[0026] The storage device 505 stores various types of information (e.g., position information, time information, a vehicle signal, and a sensor signal) used for vehicle navigation. The display device 506 shows route guidance information related to the route guidance provided by the vehicle navigation system. The input device 507 inputs various types of information, such as a destination, for the vehicle navigation system. The communication device 508 facilitates communication between an external device and the test target 5.

[0027] The CPU 504 performs calculations related to car navigation (e.g., route search) based on a GNSS signal output by the GNSS receiver 501, a vehicle signal output by the vehicle signal receiver 502, a signal from the sensor integrated in the car navigator output by the sensor 503, and the like. Furthermore, when verifying the operation of test target 5, the CPU 504 performs calculations related to car navigation based on signals such as the emulated GNSS signal received by the GNSS receiver 501, the emulated vehicle signal received by the vehicle signal receiver 502, and the emulated sensor signal input by the navigation simulator HW 4 via a dedicated signal line.

[0028] Fig. Figure 2 is a diagram illustrating an example of a functional configuration of the navigation simulator HW 4 according to the present embodiment. Next, an example of a functional configuration of the navigation simulator HW 4 according to the present embodiment is shown with reference to Fig. 2 described.

[0029] As in Fig. As shown in Figure 2, the navigation simulator HW 4 according to the present embodiment comprises an external IF 401, a vehicle signal output circuit 402, a sensor signal output circuit 403, a simulator-internal sensor 404 and a CPU 405.

[0030] The external IF 401 includes, for example, a GNSS antenna connector, a vehicle IF, a power connector, a GNSS receiver IF, an SD card slot, and the like. The GNSS antenna connector is connected to the GNSS antenna. The vehicle IF acquires vehicle information such as a speed pulse, CAN information, reverse gear status, lights, and parking status. In one example, the power connector supplies power to the HW 4 navigation simulator from the vehicle's cigarette lighter socket or an AC adapter. The GNSS receiver IF is connected to a GNSS receiver built into the HW 4 navigation simulator. The SD card slot is a slot that can be connected to a storage device, such as an SD card, which stores various types of information, including the current vehicle test log data.

[0031] The vehicle signal output circuit 402 outputs the emulated vehicle signal to the test target 5. The sensor signal output circuit 403 is an example of a signal output circuit that outputs the emulated sensor signal to the test target 5. The simulator-internal sensor 404 includes an accelerometer, a gyroscope, and the like, detects the vehicle's motion information, such as angular velocity and acceleration, and outputs a signal from the simulator-internal sensor, representing the detected motion information, to the CPU 405.

[0032] The CPU 405 comprises a data logging function unit 405a and an emulation function unit 405b. The data logging function unit 405a acquires the GNSS signal via the external IF 401 and stores the acquired GNSS signal on the SD card in an NMEA format. The external IF 401 that acquires the GNSS signal is, for example, the GNSS receiver IF. The data logging function unit 405a also acquires information such as a vehicle speed pulse and CAN information, which is acquired by the external IF 401. The external IF 401 that acquires the vehicle speed pulse and CAN information is, for example, the vehicle IF. The data logging function unit 405a calculates the vehicle speed based on the vehicle speed pulse and stores the vehicle signal indicating the vehicle speed, along with the CAN information, etc., on the SD card.Furthermore, the data logging functional unit 405a acquires a signal from the simulator's internal sensor, which is output by the simulator's internal sensor 404, and stores the acquired signal on the SD card. In the present embodiment, the SD card serves as an example of a storage medium that stores current vehicle driving test log data, including a signal from the simulator's internal sensor.

[0033] The emulation function unit 405b acquires the navigation simulator scenario from PC 1 (an example of an external device and an information processing device). The emulation function unit 405b is an example of a scenario acquisition unit. The simulator scenario includes a signal from the simulator's internal sensor, which is contained in the current vehicle driving test protocol data, or includes a virtual sensor signal as the signal from the simulator's internal sensor. Additionally, the emulation function unit 405b generates an emulated sensor signal based on a signal from the simulator's internal sensor or a virtual sensor signal contained in the navigation simulator scenario. The emulated sensor signal is a signal obtained by emulating an electrical signal required for the vehicle's navigation in test objective 5.In particular, the emulation function unit 405b generates an emulated sensor signal based on a signal from the simulator's internal sensor or a virtual sensor signal included in the navigation simulator scenario. This emulated sensor signal is obtained by emulating the signal output of the sensor integrated in the car navigator. For example, the emulated sensor signal could be a signal obtained by converting a signal from the simulator's internal sensor or a virtual sensor signal into a signal with a format similar to that output by the sensor 503 integrated in the car navigator. Furthermore, the emulation function unit 405b generates an emulated vehicle signal based on the vehicle signal included in the navigation simulator scenario. This emulated vehicle signal is obtained by emulating a vehicle signal related to the vehicle.

[0034] With the configuration described above, the sensor signal required for operational verification of test object 5 can be electrically reproduced. Therefore, it is possible to perform operational verifications on test object 5 (for example, reproducing a real driving log, pre-verification before actual on-site driving, and verification of routes that are not possible in reality, such as driving the wrong way). "Actual driving" refers to driving an actual vehicle. Furthermore, it is possible to verify the operation of test object 5 without using large mechanical equipment, such as a turntable. In the present embodiment, the emulation function unit 405b functions as both a scenario capture unit and an emulation function unit. This can be described as the navigation simulator HW 4 containing the scenario capture unit.The scenario capture unit and the emulation functional unit can be implemented using various hardware components.

[0035] Fig. Figure 3 is a diagram illustrating an example of a functional configuration of the PC according to the present embodiment. Next, an example of a functional configuration of PC 1 according to the present embodiment is given with reference to... Fig. 3 described.

[0036] The PC 1 according to the present embodiment comprises a CPU, ROM, RAM, a communication device, and the like. The communication device serves to establish communication with an external device, such as the navigation simulator HW 4. Various programs, such as driving data generation software, are stored in the ROM. The RAM is a working area in which the CPU executes various programs, such as the driving data generation software. The CPU executes the driving data generation software stored in the ROM using the RAM as a working area and thereby implements a scenario generation unit 101a, a protocol monitoring unit 101b, a scenario converter 101c, and a scenario execution unit 101d, as shown in Fig. 3 shown.

[0037] Scenario generation unit 101a is an example of a generation unit that generates virtual route data. In the present embodiment, scenario generation unit 101a uses a special mapping application to generate a route along which the vehicle virtually travels. Furthermore, based on the generated route, scenario generation unit 101a generates virtual route data containing vehicle position information, a vehicle signal, and a sensor signal, each relating to a case in which the vehicle is virtually traveling on the route. The virtual route data includes, for example, a GNSS signal representing the vehicle's position information. The following description can be made without distinguishing between the GNSS signal representing the position information and the position information itself.

[0038] Scenario generation unit 101a uses the map application to determine the latitude and longitude of the route on which the verification of test objective 5's operation is to be carried out. Next, based on the determined latitude and longitude, scenario generation unit 101a authorizes a route on which the verification of test objective 5's operation is to be performed. Subsequently, scenario generation unit 101a uses a physical calculation to generate virtual route data, including vehicle position information, a vehicle signal, sensor signals, and the like, which are obtained when the vehicle model travels along the created route.

[0039] The protocol monitoring unit 101b is an example of a protocol acquisition unit that captures actual vehicle test drive log data (in other words, a real driving log) from a storage unit, such as an SD card, connected to the HW 4 navigation simulator. The scenario converter 101c converts a signal from the simulator's internal sensor, contained within the actual vehicle test drive log data captured by the protocol monitoring unit 101b, into actual vehicle test drive log data represented by a physical quantity.

[0040] Scenario execution unit 101d is an example of an execution unit that runs a navigation simulator scenario containing a virtual sensor signal, either from the virtual route data or from the simulator's internal sensor, contained in the actual vehicle test log data. Scenario execution unit 101d also functions as an example of an output unit that outputs the navigation simulator scenario to the HW 4 navigation simulator.

[0041] Furthermore, the scenario execution unit 101d calculates a transformation rotation matrix corresponding to the mounting angle of the sensor 503 integrated in the car navigator. Specifically, the transformation rotation matrix is ​​a rotation matrix for converting a virtual sensor signal contained in the virtual route data, or a signal from the simulator's internal sensor contained in the actual vehicle test log data, into a sensor signal corresponding to a coordinate system unique to the sensor integrated in the car navigator. The scenario execution unit 101d then multiplies the virtual sensor signal contained in the virtual route data, or the signal from the simulator's internal sensor contained in the actual vehicle test log data, by the calculated transformation rotation matrix.With the above operating procedure, the scenario execution unit 101d converts the virtual sensor signal or the signal of the simulator's internal sensor into a sensor signal that corresponds to the coordinate system that is unique for the sensor 503 integrated in the car navigator.

[0042] Furthermore, the scenario execution unit 101d multiplies the virtual sensor signal, or the signal of the simulator's internal sensor (multiplied by the transformation rotation matrix), by a transformation formula corresponding to the sensitivity coefficient of the sensor 503, integrated into the car navigator and installed in test target 5. The scenario execution unit 101d then executes the navigation simulator scenario containing the signal of the simulator's internal sensor or the virtual sensor signal multiplied by the transformation formula.

[0043] Fig. Figure 4 is a flowchart that shows an example of the process for recording actual vehicle test log data in the information processing system according to the present embodiment. An example of the process for recording vehicle test log data in the information processing system according to the present embodiment is given with reference to Fig. 4 described.

[0044] When the navigation simulator HW 4 is installed in the vehicle and the vehicle begins driving on a predetermined route, the data logging function unit 405a of the navigation simulator HW 4 acquires a signal from the simulator's internal sensor, which is output by the simulator's internal sensor 404 at a predetermined interval (e.g., a regular interval) (step S411). The signal from the simulator's internal sensor is a sensor signal represented by a dimensionless quantity that is unique to the simulator's internal sensor 404. In one example, the signal from the simulator's internal sensor is represented using an LSB unit.

[0045] Next, the data logging function unit 405a writes the captured signal from the simulator's internal sensor to a storage device, such as an SD card, without modification (step S412). The data logging function unit 405a then determines whether the recording of the captured signal from the simulator's internal sensor (in other words, the trip log) is complete (step S413). The signal from the simulator's internal sensor is included in the trip log. Subsequently, in some cases, the signal from the simulator's internal sensor and the trip log are described without distinguishing between them. In a case where the vehicle's journey on the specified route is not completed, the data logging function unit 405a determines that the trip log recording is not complete (step S413: No).The data logging functional unit 405a then returns to step S411 to continue acquiring the signal from the simulator-internal sensor 404.

[0046] In contrast, the data logging functional unit 405a determines that the recording of the driving log is complete when the vehicle has finished driving the specified route (step S413: Yes). In this case, the data logging functional unit 405a generates actual vehicle driving test log data, including the signal from the simulator's internal sensor, which is written to the SD card (step S414). The actual vehicle driving test log data is an example of a driving log file. In the present embodiment, the vehicle driving test log data is binary data that directly describes a signal from the simulator's internal sensor, which is output by the simulator's internal sensor 404.

[0047] The protocol monitoring unit 101b of PC 1 acquires actual vehicle test drive log data from the SD card connected to the navigation simulator HW 4. The protocol monitoring unit 101b then converts a signal from the simulator's internal sensor, contained within the actual vehicle test drive log data, into a sensor signal represented by a physical quantity (step S415), thereby completing the actual vehicle test log data (step S416). The physical quantity is, for example, a quantity represented by a unit of dps or a unit of g.

[0048] Fig. Figure 5 is a flowchart illustrating an example of a virtual route data generation process in the information processing system according to the present embodiment. Next, an example of the virtual route data generation process in the information processing system according to the present embodiment is given with reference to... Fig. 5 described.

[0049] First, using a special application, the scenario generation unit 101a of PC 1 generates a route on which the vehicle virtually travels (step S511). Next, based on the generated route, the scenario generation unit 101a generates vehicle position information, a vehicle signal, a virtual sensor signal, and the like, which are obtained when the vehicle is virtually traveling on the route (step S512). The virtual sensor signal includes, for example, the angular velocity, expressed in dps, and the acceleration, expressed in g. Subsequently, the scenario generation unit 101a completes the virtual route data, including the generated position information, the vehicle signal, the virtual sensor signal, etc. (step S513).

[0050] In one example, scenario generation unit 101a causes the vehicle model to drive on a route generated by the specific application. At this point, scenario generation unit 101a causes the vehicle model to drive according to a predefined driving condition (for example, maximum speed, wheelbase, gear selection, or acceleration / deceleration). Subsequently, scenario generation unit 101a generates vehicle position information, a vehicle signal, a virtual sensor signal, and the like for each predefined period (e.g., 100 ms).

[0051] Fig. Figure 6 is a flowchart showing an example of the output process of a navigation simulator scenario in the information processing system according to the present embodiment. Next, an example of the output process of a navigation simulator scenario in the information processing system according to the present embodiment is given with reference to Fig. 6 described.

[0052] The scenario execution unit 101d of PC 1 first selects a scenario from the vehicle driving test log data and the virtual driving route data to be used for executing the navigation simulator scenario (step S601). In some subsequent cases, the scenario used for executing the navigation simulator scenario will be referred to as a simulation scenario. Next, the scenario execution unit 101d selects a parameter file corresponding to test objective 5 from the parameter files stored in the memory unit, such as ROM 102, in PC 1 (step S602).

[0053] The parameter file contains information representing a sensitivity coefficient and an installation angle, each unique to the sensor integrated into the car navigator and installed in test target 5. Next, scenario execution unit 101d starts a simulation of the navigation simulator scenario (step S603).

[0054] Next, based on the mounting angle contained in the selected parameter file, the scenario execution unit 101d calculates a transformation rotation matrix to convert the virtual sensor signal or the signal from the simulator's internal sensor included in the selected simulation scenario into the sensor signal corresponding to the coordinate system unique for test objective 5 (step S604). Next, the scenario execution unit 101d acquires a virtual sensor signal or a signal from the simulator's internal sensor included in the selected simulation scenario that is represented by a physical quantity (step S605). For example, the scenario execution unit 101d acquires a virtual sensor signal or a signal from the simulator's internal sensor that corresponds to a plurality of axes (for example, three axes x, y, and z).The majority of axes correspond to a coordinate system that is used when motion information, such as angular velocity and acceleration, is captured by the 503 sensor integrated into the car navigator.

[0055] The scenario execution unit 101d then multiplies the acquired virtual sensor signal or the signal of the simulator's internal sensor by the calculated transformation rotation matrix. In this way, the scenario execution unit 101d performs a coordinate transformation of the virtual sensor signal or the signal of the simulator's internal sensor, which is included in the selected simulation scenario, into a sensor signal that corresponds to the unique coordinate system for the sensor 503 integrated in the car navigator (step S606).

[0056] Next, scenario execution unit 101d multiplies the virtual sensor signal, or the signal from the simulator's internal sensor after a coordinate transformation, by a transformation formula corresponding to a sensitivity coefficient unique to the sensor integrated in the car navigator. This transformation formula is contained, for example, in the parameter file. Scenario execution unit 101d then executes the navigation simulator scenario, which contains the sensor signal transformed by the multiplication into a dimensionless quantity (step S607). Finally, scenario execution unit 101d outputs the navigation simulator scenario to the navigation simulator HW 4.

[0057] The emulation function unit 405b of the navigation simulator HW 4 generates an emulated sensor signal by performing an emulation based on the virtual sensor signal or the signal from the simulator's internal sensor, and outputs the emulated sensor signal to test target 5 (step S608). The virtual sensor signal or the signal from the simulator's internal sensor is included in the navigation simulator scenario input by PC 1. The emulated sensor signal is an electrical signal required for car navigation at test target 5. Subsequently, the scenario execution unit 101d of PC 1 determines whether the execution of the navigation simulator scenario for the preset route has finished (step S609).

[0058] In the present embodiment, the navigation simulator HW 4 includes a register with a memory address that corresponds to the memory address of the sensor 503 integrated in the car navigator for the test target 5. The navigation simulator HW 4 can specify the same memory address for the register as for the sensor integrated in the car navigator, as follows. Specifically, the parameter file contains, for example, tab information relating to the test target 5. During the execution of the simulation, the tab information is developed in a memory area of ​​the navigation simulator HW 4, which enables the navigation simulator HW 4 to specify the same memory address as that of the sensor 503 integrated in the car navigator in the register, even if the test target 5 changes.In this configuration, the emulation function unit 405b, in response to a sensor signal request from test target 5, can read the emulated sensor signal corresponding to the requested sensor signal from the register and output the emulated sensor signal to test target 5. As a result, test target 5 can acquire the emulated sensor signal at a higher speed than if it were acquiring the sensor signal from PC 1. Therefore, the operational verification of test target 5 can be performed in a state that more closely resembles real-world driving.

[0059] If the navigation simulator scenario is completed (step S609: Yes), scenario execution unit 101d terminates the navigation simulator scenario. If, however, the navigation simulator scenario is not completed (step S609: No), scenario execution unit 101d returns to step S605.

[0060] Fig. 7, Fig. 8 to Fig. Figure 9 are diagrams, each illustrating an example of an execution process of a navigation simulator scenario in the information processing system according to the present embodiment. Next, an example of the execution process of the navigation simulator scenario in the information processing system according to the present embodiment is given with reference to the Fig. 7, Fig. 8 to Fig. 9 described.

[0061] As in Fig. As shown in Figure 7, the mapping and mounting angles of the x, y, and z axes can differ in some cases between the sensor 503 integrated in the car navigator and the simulator-internal sensor 404. In the present embodiment, the PC 1 defines the coordinate system and the like of the simulator-internal sensor 404 as a base coordinate system and the coordinate system of the sensor 503 integrated in the car navigator as a local coordinate system. The PC 1 stores a parameter file containing rotation angles of the local coordinate system based on the base coordinate system for each type of sensor 503 integrated in the car navigator in a memory unit, such as the ROM (for example, 180 degrees around the x-axis, 0 degrees around the y-axis, and -90 degrees around the z-axis: an example of the mounting angles).Furthermore, the PC 1 stores in ROM or the like a parameter file with a sensitivity coefficient for each type of the 503 sensor integrated in the car navigator, based on the sensitivity coefficient of the 404 sensor internal to the simulator.

[0062] The scenario execution unit 101d then executes as described in Fig. Figure 8 shows a coordinate transformation of the acceleration (Ax, Ay, Az) and the angular velocity (x, y, z) detected by the simulator-internal sensor 404 using a rotation matrix, to determine the acceleration a sensоr and the angular velocity ω sensorin the local coordinate system of the sensor 503 integrated in the car navigator. Both the acceleration and the angular velocity are each expressed by a matrix with three rows and one column. In an example, in a case where the local coordinate system of the simulator-internal sensor 404 is a coordinate system rotated by 90 degrees about the z-axis of the base coordinate system, the scenario execution unit 101d performs a coordinate transformation on the acceleration A (0,2, 0,3, 0.5) detected by the simulator-internal sensor 404 by applying the in Fig. The rotation matrix shown in Figure 9 is used. With this operating procedure, the scenario execution unit 101d calculates the acceleration a. sensоr(-0.3, 0.2, 0.5) in the local coordinate system, in which the x-axis and y-axis values ​​of the acceleration (0.2, 0.3, 0.5) detected by the simulator's internal sensor 404 have been swapped. Similarly, the scenario execution unit 101d performs a coordinate transformation for the angular velocity, which is converted into the angular velocity ω. sensor to be converted into the local coordinate system.

[0063] In this way, the information processing system according to the present embodiment can electrically reproduce the sensor signal required for the operational verification of test target 5, thereby enabling operational verifications to be carried out at test target 5 (e.g., the reproduction of a real logbook, pre-verification before actual driving on site, and verification of routes that are not possible in reality, such as driving the wrong way). Furthermore, it is possible to check the operation of test target 5 without using large mechanical equipment, such as a turntable.

[0064] Computer programs (for example, a program for implementing the scenario generation unit 101a, the protocol monitoring unit 101b, the scenario converter 101c and the scenario execution unit 101d) that are executed by the PC 1 of the present embodiment are provided by recording them as a file in an installable or executable format on a computer-readable recording medium, such as CD-ROM, flexible disk (FD), CD-R and DVD (Digital Versatile Disk).

[0065] Furthermore, in the present embodiment, the programs executed on PC 1 can be stored on a computer connected to a network, such as the Internet, and made available by downloading them over the network. In addition, in the present embodiment, the programs executed on PC 1 can be made available or distributed via a network, such as the Internet.

[0066] Furthermore, the programs executed by the PC 1 of the present embodiment can be made available by first including them in a medium, such as ROM.

[0067] The program executed by the navigation simulator HW 4 of the present embodiment (for example, a program for implementing the data logging functional unit 405a and the emulation functional unit 405b) is provided by first including it in a ROM or the like. The program executed by the navigation simulator HW 4 of the present embodiment can be provided by recording it on a computer-readable recording medium, such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD, as a file in an installable or executable format.

[0068] Furthermore, the programs executed on the HW 4 navigation simulator of the present embodiment can be stored on a computer connected to a network, such as the Internet, and made available by downloading over the network. In addition, the programs executed on the HW 4 navigation simulator of the present embodiment can be made available or distributed via a network, such as the Internet.

[0069] Furthermore, an information processing method performed by PC 1 of the information processing system according to the present embodiment comprises: a step of generating, by a generation unit, a virtual driving scenario containing a virtual sensor signal representing motion information detected by a simulator-internal sensor installed in a navigation simulator when a vehicle virtually travels on a predetermined route; a step of acquiring, by a acquiring unit, a driving log file containing a signal from a simulator-internal sensor representing motion information detected by the simulator-internal sensor when the vehicle travels on the route;a step of executing, by an execution unit, a test scenario containing the virtual sensor signal included in the virtual driving scenario or the signal of the simulator's internal sensor contained in the driving log file; and a step of outputting, by an output unit, the test scenario executed by the execution unit to the navigation simulator.

[0070] Although certain embodiments have been described, these embodiments are presented only as examples and are not intended to limit the scope of the inventions. Indeed, the new methods and systems described herein can be implemented in a multitude of other forms; moreover, various omissions, substitutions, and modifications can be made to the form of the methods and systems described herein without departing from the fundamental concept of the inventions. The appended claims and their equivalents are intended to cover such forms or modifications that fall within the scope of protection and the fundamental concept of the inventions.

Claims

[1] Navigation simulator (HW4), including: a scenario capture unit configured to capture a test scenario from an external device containing a signal from the simulator's internal sensor, wherein the signal from the simulator's internal sensor represents motion information detected by a simulator's internal sensor (404) when a vehicle travels on a predetermined route, the simulator's internal sensor (404) being installed in the navigation simulator (HW 4); an emulation function unit (405b) configured to generate an emulated sensor signal obtained by emulating a signal from the sensor integrated in the car navigator based on the signal from the simulator-internal sensor included in the test scenario, wherein the signal from the sensor integrated in the car navigator represents motion information detected by a sensor (503) installed in the car navigation system and integrated in the car navigator; a signal output circuit configured to output the emulated sensor signal generated by the emulation function unit (405b) to the car navigation system; and a register to which the same memory address as the sensor (503) integrated in the car navigator is assigned, wherein the register is configured to hold the emulated sensor signal, wherein the emulation functional unit (405b) is configured to read the emulated sensor signal, which corresponds to a sensor signal, from the register in response to a request from the car navigation system for the sensor signal. [2] Navigation simulator (HW 4) according to claim 1, further comprising a data logging functional unit (405a) configured to store a driving log file in a storage unit containing the signal of the simulator internal sensor (404), wherein the signal of the simulator internal sensor represents the motion information detected by the simulator internal sensor (404) by a dimensionless quantity. [3] Navigation simulator (HW 4) according to claim 2, wherein the test scenario comprises: the signal of the simulator-internal sensor contained in the driving log file or a virtual sensor signal that is output by the simulator-internal sensor (404) when the vehicle is virtually driving on the specified route. [4] Navigation simulator (HW 4) according to claim 3, wherein the emulated sensor signal is a signal obtained by converting the signal of the simulator-internal sensor or the virtual sensor signal into a signal with the format of a signal of the sensor integrated in the car navigator, which is output by the sensor (503) integrated in the car navigator. [5] Navigation simulator (HW 4) according to one of claims 2 to 4, wherein the scenario capture unit is configured to capture the test scenario which contains the signal of the simulator-internal sensor which represents, by a physical quantity, the signal of the simulator-internal sensor stored in the storage medium. [6] Navigation simulator (HW 4) according to any one of claims 1 to 4, wherein the motion information includes information specifying the angular velocity and acceleration of the vehicle. [7] Information processing device (PC 1), comprising: a generation unit (101a) configured to generate a virtual driving scenario containing a virtual sensor signal, wherein the virtual sensor signal represents motion information detected by a simulator-internal sensor (404) when a vehicle virtually travels on a predetermined route, the simulator-internal sensor (404) being installed in a navigation simulator (HW 4); a log acquisition unit (101b) configured to acquire a driving log file containing a signal from a simulator-internal sensor, wherein the signal from the simulator-internal sensor represents motion information detected by the simulator-internal sensor (404) when the vehicle travels on the driving track; an execution unit (101d) configured to execute a test scenario containing the virtual sensor signal included in the virtual driving scenario or the simulator-internal sensor signal included in the driving log file; and an output unit (101d) configured to output the test scenario executed by the execution unit (101d) to the navigation simulator (HW 4), wherein the log acquisition unit (101b) is configured to convert the signal from the simulator's internal sensor contained in the driving log file into a sensor signal represented by a physical quantity, the generation unit (101a) is configured to generate the virtual driving scenario that contains the virtual sensor signal represented by a physical quantity, and the execution unit (101d) is configured to to multiply the virtual sensor signal contained in the virtual driving scenario or the signal of the simulator-internal sensor contained in the driving log file by a transformation rotation matrix, wherein the transformation rotation matrix corresponds to an installation angle of a sensor (503) installed in a car navigation system and integrated into the car navigator, to multiply the signal of the simulator-internal sensor or the virtual sensor signal, which has been multiplied by the transformation rotation matrix, by a transformation formula, wherein the transformation formula corresponds to a sensitivity coefficient of the sensor (503) integrated in the car navigator, and to execute the test scenario, which contains the signal from the simulator's internal sensor or the virtual sensor signal that has been multiplied by the transformation formula. [8] Information processing device (PC 1) according to claim 7, wherein the generation unit (101a) is configured to to generate a route on which the vehicle is prompted to drive virtually by a dedicated map application, and to generate the virtual driving scenario based on the generated route. [9] Information processing device (PC 1) according to claim 8, wherein the generating unit (101a) is configured to to use the map application to record the latitude and longitude of a route on which an operational verification of the car navigation system is to be carried out, to generate the route by authoring based on latitude and longitude, and to generate the virtual driving scenario through physical calculation, which contains a sensor signal that is obtained in a case where the vehicle model is caused to drive on the generated route. [10] Information processing device (PC 1) according to claim 7, wherein the motion information includes the angular velocity and the acceleration of the vehicle. [11] Information processing system, comprising: a navigation simulator (HW 4); and an information processing device (PC 1), wherein the information processing device (PC 1) contains: a generation unit (101a) configured to generate a virtual driving scenario containing a virtual sensor signal, wherein the virtual sensor signal represents motion information detected by a simulator-internal sensor (404) when a vehicle virtually travels on a predetermined route, the simulator-internal sensor (404) being installed in a navigation simulator (HW 4); a log acquisition unit (101b) configured to acquire a driving log file containing a signal from a simulator-internal sensor, wherein the signal from the simulator-internal sensor represents motion information detected by the simulator-internal sensor (404) when the vehicle travels on the driving track; an execution unit (101d) configured to execute a test scenario containing the virtual sensor signal included in the virtual driving scenario or the simulator-internal sensor signal included in the driving log file; and an output unit (101d) configured to output the test scenario executed by the execution unit to the navigation simulator (HW 4), and The navigation simulator (HW 4) contains: a scenario capture unit configured to capture the test scenario from the information processing device (PC 1); an emulation function unit (405b) configured to generate an emulated sensor signal obtained by emulating a signal from the sensor integrated in the car navigator based on the signal from the simulator-internal sensor included in the test scenario or based on the virtual sensor signal, wherein the signal from the sensor integrated in the car navigator represents motion information detected by a sensor (503) installed in the car navigation system and integrated in the car navigator; and a signal output circuit configured to output the emulated sensor signal generated by the emulation function unit (405b) to the car navigation system; and a register to which the same memory address as the sensor (503) integrated in the car navigator is assigned, wherein the register is configured to hold the emulated sensor signal, wherein the emulation functional unit (405b) is configured to read the emulated sensor signal, which corresponds to a sensor signal, from the register in response to a request from the car navigation system for the sensor signal. [12] A computer program comprising computer-readable instructions to be executed by a computer, wherein the instructions cause the computer to perform processing which includes: Generating a virtual driving scenario containing a virtual sensor signal, wherein the virtual sensor signal represents motion information detected by a simulator-internal sensor (404) when a vehicle virtually travels on a predetermined route, wherein the simulator-internal sensor (404) is installed in a navigation simulator (HW 4); Acquiring a driving log file containing a signal from a simulator-internal sensor, wherein the signal from the simulator-internal sensor represents motion information detected by the simulator-internal sensor (404) as the vehicle travels on the driving track; Executing a test scenario that includes the virtual sensor signal contained in the virtual driving scenario or the signal from the simulator's internal sensor contained in the driving log file; Outputting the test scenario executed by the process to the navigation simulator (HW 4); Converting the signal from the simulator's internal sensor contained in the driving log file into a sensor signal represented by a physical quantity, Generating the virtual driving scenario that contains the virtual sensor signal represented by a physical quantity, Multiplying the virtual sensor signal contained in the virtual driving scenario or the signal of the simulator-internal sensor contained in the driving log file by a transformation rotation matrix, wherein the transformation rotation matrix corresponds to an installation angle of a sensor (503) installed in a car navigation system and integrated into the car navigator, Multiplying the signal of the simulator-internal sensor or the virtual sensor signal, which has been multiplied by the transformation rotation matrix, by a transformation formula, wherein the transformation formula corresponds to a sensitivity coefficient of the sensor (503) integrated in the car navigator, and Executing the test scenario, which contains the signal from the simulator's internal sensor or the virtual sensor signal that has been multiplied by the transformation formula.

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