SIMULATION SYSTEM FOR A VEHICLE

Abstract

TASK: To facilitate the evaluation of control operations with regard to various devices for use in a control system for a vehicle. SOLUTION: A vehicle simulation system comprises a main simulator, a sub-simulator, and an inter-device switching unit. The main simulator enables a first device to connect to an in-vehicle main network, allows the first device to operate, and enables the first device to output an initial output. The first device is located in the vehicle. The sub-simulator enables a second device to connect to an in-vehicle sub-network and allows the second device to operate. The second device operates based on an output from the first device in the vehicle. The inter-device switching unit outputs information generated in the main simulator to the sub-simulator. The second device operates according to the information generated by the main simulator.

Description

Technical field

[0001] The invention relates to a simulation system for a vehicle. State of the art

[0002] As described, for example, in patent literature 1, a vehicle has a large number of control units arranged in its control system. Furthermore, various sensors and actuators are coupled to each control unit.

[0003] For each device and the like to be arranged in such a control system of a vehicle, a final operational test and evaluation is carried out by means of an actual driving operation of the vehicle, whereby the aforementioned devices are all actually located in the control system of the vehicle.

[0004] Furthermore, the final operational testing and evaluation for each device for serially manufactured vehicles or for customer service for the vehicles or the like is also carried out by means of actual driving of the vehicle in a state in which all devices are actually located in the vehicle's control system.

[0005] Furthermore, when reviewing and evaluating the operation of a facility with regard to only one element, the driver is expected to drive the vehicle several times. List of literature on patent literature

[0006] Patent Literature 1: Unexamined Japanese patent application publication JP 2018-144526A Brief description of the invention Problem to be solved with the invention

[0007] Meanwhile, developments in vehicles to improve safety and driving comfort are progressing steadily. For example, the development of ADAS (Advanced Driver Assistance Systems) for automatic braking, automated driving, etc., is constantly advancing.

[0008] Therefore, vehicle control systems will become increasingly sophisticated and complex in the future than they are today.

[0009] Furthermore, it is to be expected that as the vehicle's control system becomes more sophisticated or complex, the number of operational testing elements and the scope of the evaluation for each control unit, sensor, and actuator within the control system will also increase. With regard to the various control units, sensors, and actuators integrated into a more sophisticated and complex vehicle control system, the reliable evaluation of their operation is expected to entail a significant increase in the number of processes and the time required for evaluation.

[0010] As described above, it is therefore desirable in vehicles to facilitate the evaluation of the operation of the various devices for use in the control system. Means to solve the problem

[0011] A simulation system for a vehicle according to one aspect of the invention is a simulation system for a vehicle for enabling the operation of a second device. The second device is designed to operate in the vehicle based on an output from a first device.The simulation system comprises: a main simulator designed to enable the first device to operate in an environment simulating the vehicle's control system by coupling the first device to a vehicle-internal main network; a sub-simulator designed to enable the second device to operate in the environment simulating the vehicle's control system by coupling the second device to a vehicle-internal sub-network that is distinct from the vehicle-internal main network; and an inter-device intermediary device designed to output information generated in the main simulator to the sub-simulator in which the second device operates.The second unit, coupled to the vehicle's internal subnetwork, is designed to operate according to the information generated by the main simulator in which the first unit operates. Effects of the invention

[0012] According to the invention, the first device, arranged in the vehicle within the environment that simulates the vehicle's control system, operates by coupling the first device to the vehicle's internal main network of the main simulator. Furthermore, the second device, as an evaluation target that operates based on the output of the first device in the vehicle, is not coupled to the vehicle's internal main network of the main simulator, but rather to the vehicle's internal subnetwork of the sub-simulator, which differs from the vehicle's internal main network.

[0013] Thus, according to the invention, the first device can operate in the environment simulating the vehicle's control system in the main simulator without being affected by the operation of the second device as the evaluation target. The first device can operate reliably in the environment simulating the vehicle's control system without being affected by the operation of the second device. Consequently, the first output provided by the first device in the main simulator can be reliable without being affected by the operation of the second device as the evaluation target.

[0014] Furthermore, the second device, which is coupled to the vehicle's internal subnetwork of the sub-simulator (which differs from the vehicle's internal main network of the main simulator), operates according to the information generated by the main simulator. Thus, although coupled to the vehicle's internal subnetwork of the sub-simulator, the second device can operate similarly to how it would if it were coupled to the vehicle's internal main network of the main simulator along with the first device.

[0015] Consequently, with regard to the second device, which operates in the vehicle based on the output of the first device, the operation of the second device in the environment simulating the vehicle's control system can be evaluated in the vehicle simulation system according to the invention. According to the invention, the second device can cooperate with the first device in the vehicle simulation system even if the second device is not physically located in the vehicle together with the first device.

[0016] Regarding the second device, its interaction with the first device can be evaluated in an environment simulating the vehicle's control system and in an environment where the first device operates reliably. According to the invention, the second device, which operates in the vehicle's control system in cooperation with the first device based on the output of the first device in the vehicle, can also operate in the simulation system, which does not include the vehicle, and its operation can be easily evaluated.

[0017] As described above, according to the invention, the evaluation of the control operation of various devices for use in the vehicle's control system can be facilitated. Brief description of the drawings

[0018] The drawings show in: Fig. 1. An illustrative representation of an example of the configuration of a car's control system. Fig. 2. An illustrative representation of a control and operation for automatic braking in the car according to Fig. 1. Fig. 3. An illustrative representation of an example of a basic configuration of a simulation system for a car, which is to be used for evaluating the operation of the car's control system according to Fig. 1 is available. Fig. 4. An illustrative representation of an example of a computer system designed for use as a behavioral computer according to Fig. 3 is available. Fig. 5 an illustrative representation of a basic configuration of a simulation system for a car according to a first embodiment of the invention. Fig. 6 a block diagram of a basic configuration according to Fig. 5 simulation systems to be implemented for the evaluation of the operation of the car. Fig. 7 a schematic illustrative representation to indicate the operating time of the basic simulation system according to Fig. 5 in the simulation system according to Fig. 6. Fig. 8 a flowchart of an entire control sequence for the evaluation of the operation for automatic braking in the simulation system according to the embodiment. Fig. 9 an illustrative representation of a basic configuration of a simulation system for a car according to a second embodiment of the invention. Embodiments of the invention

[0019] Some embodiments of the invention are described below with reference to the drawings. First embodiment

[0020] Fig. Figure 1 is an illustrative representation of an example configuration of a control system 10 of a car. Fig. Figure 1 represents an example of components related to automatic braking that are arranged in the car's control system 10. The car's control system 10 may also include, for example, controllers, sensors, and actuators that are located in Fig. 1 are not shown.

[0021] The car's control system 10 according to Fig. 1 has an in-vehicle network 16 to which the control units are connected. The in-vehicle network 16 can, for example, be a network that conforms to automotive standards such as CAN (Controller Area Network) and LIN (Local Interconnect Network). Such an in-vehicle network 16 generally has bus cables and a central gateway (CGW) to which the bus cables are connected. The control units can be connected to the bus cables in a distributed manner. Each control unit sends a packet containing information about a destination and information about a sender to the bus cables and receives a packet addressed to itself from the bus cables.

[0022] The central gateway determines the destinations of the packets on each bus cable and performs the forwarding processing of the packets between the bus cables. The use of such an in-vehicle network 16 enables the control units located in the car to input and output mutually required information to other control units while performing their respective operations. This allows the control units located in the car to cooperate, for example, to control the car's driving.

[0023] Furthermore, in Fig. 1 an operating control unit 11, a vehicle external environment detection control unit 12, a VDC (Vehicle Dynamics Control) control unit 13, a measurement display control unit 14 and a detection control unit 15 are shown as control units to be coupled with the vehicle internal network 16.

[0024] The control unit 11 is coupled to a control element 21. The control element 21 is operated by an occupant, such as the driver of the vehicle. Examples of the control element 21 include those that change the behavior of the car through operation by the occupant, e.g., a steering wheel, an accelerator pedal, a brake pedal, and a gearshift lever. The control unit 11 detects the operation by the occupant with respect to the control element 21 and outputs detection information regarding the operation to the vehicle's internal network 16.

[0025] The vehicle exterior environment detection control unit 12 is coupled, for example, to a compound-eye vehicle exterior environment camera 22 to detect, for example, an obstacle outside the vehicle in the vicinity of the moving car. Furthermore, a monocular camera and a lidar can also be coupled to the vehicle exterior environment detection control unit 12. The compound-eye vehicle exterior environment camera 22 can have cameras arranged to produce a predetermined parallax. The cameras can be any type designed to capture an area in a predetermined direction, and a 360-degree camera or the like can also be used. Additionally, cameras for capturing the 360-degree surroundings of the car can be coupled to the vehicle exterior environment detection control unit 12.

[0026] Furthermore, the vehicle exterior environment detection control unit 12 receives an image of the vehicle's exterior environment, for example, captured by the compound-eye vehicle exterior environment camera 22. The vehicle exterior environment detection control unit 12 can analyze the captured image of the vehicle's exterior environment to extract, for example, an obstacle, a traffic light, a road sign, and a railroad crossing. The obstacle could be, for example, a pedestrian, an oncoming vehicle, a bicycle, a vehicle ahead, a following vehicle, a fallen object on the road, or the like.

[0027] Furthermore, the vehicle's external environment detection control unit 12 can determine a relative distance and direction between the vehicle and the obstacle. If the obstacle is located at a predetermined distance or less along the vehicle's path, the vehicle's external environment detection control unit 12 can output vehicle external environment detection information, e.g., regarding the obstacle located along the path, to the vehicle's internal network 16.

[0028] The vehicle's external environment detection information can include, for example, information regarding a proximity warning concerning a driving obstacle, such as a vehicle ahead. In this case, the car's control system 10 can initiate automatic braking, inform the occupant of the situation, and slow down and stop the vehicle. Furthermore, the car's control system 10 can initiate driving while simultaneously avoiding the obstacle, such as by performing steering maneuvers.

[0029] The VDC control unit 13 is coupled to an actuator. The actuator is a device for controlling the car's driving. Fig. 1 represents a brake actuator 23 of a braking device.

[0030] Furthermore, the VDC control unit 13 performs driving control to increase the driving safety of the car.

[0031] For example, the VDC control unit 13 controls the braking operation of the brake actuator 23, enabling the brake actuator 23 to perform braking operations. This allows the car to slow down and eventually come to a stop. Furthermore, if a steering actuator of a steering system is coupled to the VDC control unit 13, the VDC control unit 13 can control the steering operation of the steering actuator so that the vehicle can move and simultaneously avoid obstacles.

[0032] Furthermore, when the car is driving around a curve, the VDC control unit 13 can, for example, control the operation of the brake actuator 23 and the steering actuator to stabilize the position of the vehicle body in the curve. The VDC control unit 13 can control a steering operation, such as braking or steering, with respect to some of the wheels out of the majority of wheels fitted to the car.

[0033] In this way, the car's behavior changes through the control operation of the VDC control unit 13. Furthermore, a change in the car's behavior causes a change in the car's driving state, e.g., speed and acceleration rate. The VDC control unit 13 is designed to control the car's driving state.

[0034] It should be noted that when the vehicle's internal network 16 detects significant information from the vehicle's external environment detection data, indicating the presence of an obstacle in the vehicle's direction of travel, it is preferable for the VDC control unit 13 to control the braking operation of the brake actuator 23 so that the vehicle can stop just before reaching the obstacle. Conversely, when the vehicle's external environment detection data detects insignificant information indicating that no obstacle is present in the vehicle's direction of travel, the VDC control unit 13 may refrain from taking any action, such as actuating the brake actuator 23.

[0035] A display panel 24 is coupled to the measuring display control unit 14. The measuring display panel 24 is, for example, mounted on the dashboard of a car. Accordingly, the measuring display panel 24 can be positioned in front of the driver as a passenger in the car. The measuring display panel 24 can, for example, be a liquid crystal display. The measuring display control unit 14 controls a display output of the measuring display panel 24. The measuring display control unit 14 enables the measuring display panel 24 to display information indicating the driving status of the car, such as the car's speed, warnings, and the like.

[0036] Furthermore, in this embodiment, a loudspeaker 25 is coupled to the measuring display control unit 14. When the vehicle's external environment detection information is acquired from the vehicle's internal network 16, based, for example, on the presence of an obstacle in the vehicle's direction of travel, the measuring display control unit 14 displays the warning message on the measuring display field 24 and emits a warning tone from the loudspeaker 25. This warning allows the vehicle's occupant to focus their attention in the direction of travel and recognize that an object located in that direction is an obstacle on the vehicle's path.

[0037] The detection control unit 15 is coupled to various sensors located in the car. Fig. Figure 1 shows, as examples, a wheel speed sensor 26, an acceleration rate sensor 27 and a speed sensor 28.

[0038] The wheel speed sensor 26 detects the rotational speeds of the car's wheels.

[0039] The acceleration rate sensor 27 detects the car's acceleration rate. The acceleration rate sensor 27 can be a three-axis sensor designed to detect acceleration in each of the car's yaw, pitch, and roll directions.

[0040] The speed sensor 28 detects the speed of the car.

[0041] Thus, the detection control unit 15 can output detection information from these sensors, e.g., the actual speed, the acceleration rate, and the wheel speeds of the car, to the vehicle's internal network 16. Furthermore, the detection control unit 15 can output predetermined information obtained by processing the detection information from the sensors to the vehicle's internal network 16.

[0042] Fig. Figure 2 is an illustrative representation of the control and operation of automatic braking in the car according to Fig. 1.

[0043] Fig. 2 represents the compound-eye vehicle exterior environment camera 22, the vehicle exterior environment detection control unit 12, the VDC control unit 13 and the brake actuator 23 in the control system 10 of the car according to Fig. 1 dar.

[0044] Furthermore, it runs in Fig. 2. Time from left to right.

[0045] Thus, as in Fig. Figure 2 shows that the compound-eye vehicle exterior camera 22 captures the vehicle's exterior environment at time t1 while the car is in driving mode at that time and outputs the image of the vehicle's exterior environment. The vehicle exterior environment detection control unit 12 analyzes the image of the vehicle's exterior environment and outputs the vehicle exterior environment detection information regarding a driving obstacle.

[0046] Upon acquiring vehicle environment detection information, the VDC control unit 13 performs a control action based on the information, generates VDC data, and outputs this data, for example, to the brake actuator 23. The brake actuator 23 operates according to the VDC data. This results in a change in the vehicle's behavior and also a change in the vehicle's driving state. The VDC data refers to control information that the VDC control unit 13 generates to control the operation of the brake actuator 23, and which is then output to the brake actuator 23.

[0047] Furthermore, the compound-eye vehicle exterior camera 22 captures the vehicle's exterior environment at time t2, after the change has occurred, and outputs the image. The vehicle exterior environment detection control unit 12 analyzes the image and outputs the vehicle exterior environment detection information, e.g., regarding a driving obstacle. Upon acquiring the vehicle exterior environment detection information, the VDC control unit 13 generates and outputs the VDC data. The brake actuator 23 operates according to the VDC data. This triggers a change in the vehicle's behavior and also a change in the vehicle's driving state.

[0048] Furthermore, the compound-eye vehicle exterior camera 22 captures the vehicle's exterior environment at time t3, after the car has changed its driving state, and outputs the image. The vehicle exterior environment detection control unit 12 analyzes the image and outputs the vehicle exterior environment detection information, e.g., regarding a driving obstacle. Upon acquiring the vehicle exterior environment detection information, the VDC control unit 13 generates and outputs the VDC data. The brake actuator 23 operates according to the VDC data. This triggers a change in the vehicle's behavior and also a change in the car's driving state.

[0049] As described, the cooperation of the multiple devices for the repeated execution of the control operation in predetermined cycles enables the car's control system 10 to control the car's journey in such a way that the car stops just before the obstacle.

[0050] It should be noted that the time t1 to t3 in Fig. 2 is an example. However, in a car that uses a CAN or similar system, the vehicle's external environment detection control unit 12 and the VDC control unit 13 output and receive the vehicle's external environment detection information in cycles of time windows assigned by the CAN. That is, the vehicle's external environment detection control unit 12 outputs the vehicle's external environment detection information to the vehicle's internal network 16 at the time of the assigned time window.

[0051] The VDC control unit 13 receives the vehicle exterior environment detection information as information regarding the time window from the vehicle's internal network 16 at the assigned time. As described, in the car, the vehicle exterior environment detection control unit 12 and the VDC control unit 13 output the vehicle exterior environment detection information as first output using the time window assigned for periodic communication by the vehicle's internal network 16.

[0052] As described, the car's control system 10 has control units that work together. Furthermore, various sensors and actuators are coupled to each of the control units.

[0053] Furthermore, for example, in the development of a new car, the various control units to be used in the car, the multifaceted-eye vehicle exterior environment camera 22 and the sensors as input devices as well as the actuators as output devices must be subjected to individual tests in a test bench test and must then be subjected to a final operational test in a state in which they are incorporated into the control system 10.

[0054] Furthermore, the evaluation is currently carried out in a state where the components are located in the car's control system 10, by means of actual driving of the car. Specifically, operational testing and evaluation in a final stage of developing a new component is performed by means of actual driving of the car, with the component located in the car along with other components. Moreover, the driver is expected to drive the car several times, even when testing and evaluating the operation of just one component. The evaluations during car development thus require a large number of processes and a considerable amount of time.

[0055] Meanwhile, developments in cars to increase driving safety and comfort are progressing steadily. For example, the development of ADAS systems for automatic braking and automated driving is advancing rapidly.

[0056] Therefore, it is to be expected that a car's control system 10 will become increasingly sophisticated and complex in the future than the current ones.

[0057] Furthermore, it is to be expected that as the car's control system 10 becomes more sophisticated or complex, the number of operational testing elements and the content of the evaluation with respect to each control unit, sensor, and actuator within the control system 10 will also increase. Regarding the various control units, sensors, and actuators within the more sophisticated and complex control system 10 of the car, it is to be expected that the reliable evaluation of their operation will entail a significant increase in the number of processes and the time required for evaluation.

[0058] As described, in cars it is desirable to facilitate the evaluation of the operation of the various devices for use in the control system 10.

[0059] It should be noted that such an evaluation of operations is not limited to the development of a new car. For example, it is sometimes also desirable to evaluate the operation of equipment for mass-produced cars, car after-sales service facilities, or the like. Currently, such an evaluation of the operation of mass-produced cars, car after-sales service facilities, or the like is generally carried out by means of actual driving the car in a state in which the equipment is installed.

[0060] Next, a simulation system for a car, developed independently by the inventors, for use in such an evaluation will be described.

[0061] Fig. Figure 3 is an illustrative representation of an example of a basic configuration of a simulation system 30 for a car, which is used for evaluating the operation of the car's control system 10 according to Fig. 1 is available.

[0062] The simulation system 30 of the car according to Fig. 3 features the vehicle-internal network 16, to which the various devices of the car's control system 10 are coupled. The vehicle-internal network 16 can be the vehicle-internal network 16 itself to be used in the car's control system 10. With the simulation system 30 according to Fig. 3 are the ones in Fig. The several devices shown in Figure 1 are coupled. The illustration of part of the detection control unit 15 is shown according to... Fig. However, number 1 is omitted due to space constraints.

[0063] Thus, the various components of the car's control system 10 can be incorporated into the simulation system 30 in a state in which they are to be installed in the car. Furthermore, by coupling other control units of the car than those in Fig. 1 depicted and all devices of the control system 10 of the car with the vehicle's internal network 16 a communication environment in an actual car in the simulation system 30 can be reliably represented.

[0064] For example, if the operating control unit 11 is coupled with the vehicle's internal network 16, the driver of the vehicle can drive the car in a virtual space in the simulation system 30 by operating the control element 21.

[0065] It should be noted that in simulation system 30, the various components of the car's control system 10 form a vehicle control system actor 48. The hatched boxes in Fig. 3 are the various devices that are in the control system 10 of the car according to Fig. 1 are shown.

[0066] Furthermore, the simulation system 30 shows that Fig. 3 in addition to the vehicle-internal network 16 a main communication network 32, a synchronous switching device 33, an event generator 39, a driving environment generator 40, a behavior computer 34, a monitor image generator 35, a driver monitor 38, a camera image generator 36 and a compound eye camera monitor 37.

[0067] The main communication network 32 can be a communication network commonly used for communication between computer systems. Such a communication network includes, for example, a network that conforms to IEEE (Institute of Electrical and Electronics Engineers) standard 802.3.

[0068] Furthermore, the synchronous switching unit 33, the event generator 39, the driving environment generator 40, the behavior computer 34, the monitor image generator 35, and the camera image generator 36 are coupled to the main communication network 32. These devices, which are to be coupled to the main communication network 32, are designed to send and receive information from each other, e.g., by means of packet communication.

[0069] The synchronous switching unit 33 is coupled to the main communication network 32 and the vehicle's internal network 16. Furthermore, the synchronous switching unit 33 forwards information between the vehicle's internal network 16 and the main communication network 32. This allows the information in the vehicle's internal network 16 to be output to the main communication network 32 by the synchronous switching unit 33. The devices to be coupled to the main communication network 32 and the devices to be coupled to the vehicle's internal network 16 are designed to send and receive the necessary information through the synchronous switching unit 33.

[0070] Furthermore, it is preferable that the synchronous switching device 33, instead of forwarding all information in the vehicle's internal network 16 to the main communication network 32 or forwarding all information in the main communication network 32 to the vehicle's internal network 16, filters the information and forwards only a portion of it. The vehicle's internal network 16 is essentially the network located within the vehicle. Within the vehicle's internal network 16, as described above, the type, timing, and other aspects of the information to be transmitted are defined, for example, by time windows.

[0071] It is preferable that the synchronous switching device 33, based on predetermined filter settings, forwards only information that is insufficient on the vehicle's internal network 16 from the main communication network 32 to the vehicle's internal network 16. Furthermore, it is preferable that the synchronous switching device 33, based on the predetermined filter settings, forwards only information required in the main communication network 32 from the vehicle's internal network 16 to the main communication network 32.

[0072] The event generator 39 generates events in the virtual space when the car is driven within that space. For example, the event generator 39 stores in advance information regarding the position and time of an event related to a pedestrian, an oncoming vehicle, a bicycle, a vehicle ahead, a following vehicle, a fallen object on a road, a traffic light, a railroad crossing, and the like. The event generator 39 then generates event information at the specified time and position in the virtual space and outputs this information to the main communication network 32.

[0073] The driving environment generator 40 stores highly precise three-dimensional spatial data in advance, such as high-precision map data, as well as data relating to a predetermined scenario concerning the car's journey. Furthermore, when the car is driven in the virtual space, the driving environment generator 40 creates a virtual space around the car based on the three-dimensional spatial data and the scenario, considering the car's position within that virtual space. Once the driving environment generator 40 has received event information from the main communication network 32, it places an object corresponding to the event in the virtual space, which is linked to the event information. The driving environment generator 40 outputs information it has generated regarding the car's position and information about the virtual space to the main communication network 32.

[0074] The behavior computer 34 calculates the behavior of the car driving in the virtual space. For example, using the car's previous behavior and driving state, and information received from the main communication network 32, the behavior computer 34 calculates the vehicle's current behavior and driving state. It is preferable that the behavior computer 34 receives information from the main communication network 32 regarding the operation of the control element 21, control information regarding the VDC control unit 13 (such as the VDC data described above), and the like. This allows the behavior computer 34 to calculate the car's behavior and driving state based on the operation of the control element 21, the control by the VDC control unit 13, and the like.

[0075] The behavioral computer 34 basically calculates the vehicle's speed, acceleration rate, pitch, roll, and yaw behavior, etc., based on information relating to the vehicle's control operation. Furthermore, based on the calculated behavior, the behavioral computer 34 can also calculate the car's driving state after the behavior has been executed. The behavioral computer 34 outputs the information it generates regarding the car's behavior and driving state to the main communication network 32.

[0076] The driver monitor 38 is coupled to the monitor image generator 35. The driver monitor 38 provides the driver of the simulation system 30 with a field-of-view image from the vehicle via its display. The monitor image generator 35 receives information from the main communication network 32 regarding, for example, the car's position, the virtual space, and the car's behavior and driving status. The monitor image generator 35 then generates the field-of-view image of the three-dimensional virtual space as seen from the car's position.

[0077] The monitor image generator 35 can, in principle, generate the field of view of an area that includes a forward direction from the car as the direction of travel. The monitor image generator 35 outputs the generated field of view to the driver monitor 38 and the camera image generator 36. Thus, the field of view of the virtual space is displayed on the driver monitor 38 from the perspective of the car driving in the virtual space. In the simulation system 30, the driver can drive in the virtual space, and the field of view changes as the driver operates the control element 21.

[0078] The camera image generator 36 is coupled to the compound-eye camera monitor 37. The compound-eye camera monitor 37, together with the car's compound-eye vehicle exterior camera 22, forms a camera module. The compound-eye camera monitor 37 has monitors that correspond one-to-one to the respective cameras that make up the compound-eye vehicle exterior camera 22. Within the camera module, the monitors of the compound-eye camera monitor 37 can be arranged opposite the corresponding cameras of the compound-eye vehicle exterior camera 22.

[0079] Furthermore, the camera image generator 36 receives the field of view image generated by the monitor image generator 35 from the main communication network 32 and generates parallax images to be displayed on the corresponding monitors of the compound eye camera monitor 37.

[0080] It should be noted that the camera image generator 36, for example, receives information regarding the car's position, the virtual space, and the car's behavior and driving state from the main communication network 32 and can generate the parallax images directly from this information. The camera image generator 36 outputs the generated parallax images to the compound-eye camera monitor 37. The compound-eye camera monitor 37 displays the parallax images on its monitors, which are equivalent to those visually perceived by the driver. The car's compound-eye vehicle exterior camera 22 can capture the parallax image with its cameras. Accordingly, in the simulation system 30, the car's compound-eye vehicle exterior camera 22 can capture the parallax images as seen from the car driving in the virtual space.

[0081] Furthermore, the camera image generator 36 can receive the information regarding the behavior of the vehicle generated by the behavior computer 34 from the behavior computer 34 via the main communication network 32 and can itself generate the information regarding the driving state of the car.

[0082] Fig. Figure 4 is an illustrative representation of an example of a computer device 50 designed for use as a behavioral computer 34 according to Fig. 3 is available.

[0083] It should be noted that in the simulation system 30 according to Fig. 3 also other evaluation devices besides the behavior computer 34, e.g. the driving environment generator 40, the event generator 39, the monitor image generator 35, the camera image generator 36, the synchronous switching device 33 and the like, also a similar computer device 50 as that according to Fig. 4 can be used. Furthermore, the facilities can be used for evaluation according to Fig. 3. Integrated and implemented in the individual computer system 50. Regarding the arrangement, it is preferable that the processing load of each system is taken into account for the evaluation.

[0084] If the processing load of one of the facilities for evaluation according to Fig. If the number of evaluations is 3, the relevant facility can further distribute itself across a plurality of computer facilities (50). Each facility for evaluation according to Fig. 3 must be installed in the simulation system 30 in order to avoid delays in the time window communication in the vehicle's own network 16.

[0085] The computer setup 50 according to Fig. 4 has a communication port 51, a timer 52, a memory 53, a CPU 54 (central processing unit) and an internal bus 55 to which these are coupled.

[0086] The communication port 51 is coupled to the main communication network 32 of the simulation system 30.

[0087] The timer 52 measures the time or the time of day.

[0088] Memory 53 stores a calculation program, predefined data, and the like to be executed by the CPU 54. Memory 53 can consist of non-volatile memory, such as an HDD (hard disk drive), an SSD (solid-state drive), a ROM (read-only memory), and volatile memory, such as RAM (rapid access memory). In this case, the calculation program, predefined data, and the like can be stored in the non-volatile memory.

[0089] The CPU 54 reads the calculation program stored in the memory 53 and executes the calculation program. Thus, the control unit of the computer system 50 is implemented.

[0090] The CPU 54 acts as a control unit, regulating the operation of the computer system 50 and performing control functions such as the behavioral computer 34 described above.

[0091] Thus, the computer setup is 50 according to Fig. 4 designed to be used in the simulation system 30 according to Fig. 3 e.g. to serve as a behavior calculator 34 and the like.

[0092] As described, in the simulation system 30 for the car, according to Fig. 3 possible, by including, for example, the car's control system 10 for automatic braking according to Fig. 1 in the vehicle control system actor 48 together with the vehicle's internal network 16, whose operation is represented in a state in which the car is driving in the virtual space. The car's developers and the like can use the simulation system 30 for the car according to Fig. 3. Obtain information for the evaluation of the control and operation of a vehicle system under development. Using simulation system 30 for the vehicle according to Fig. 3. Car developers and the like can reliably evaluate the control and operation of every feature of the car without including every feature of the car under development in the car.

[0093] Even if the car's control system 10 becomes increasingly sophisticated or complex, it is possible to use the simulation system 30 for the car according to Fig. 3. To effectively and reliably evaluate an increasing number of evaluation elements for each vehicle component under development. Regarding the various components to be used in the vehicle's control system 10, it is possible to evaluate their operation through a test bench test, thereby significantly simplifying the evaluation of operation compared to a case where the evaluation is carried out with an actual vehicle. Consequently, it can be expected that the control and operation of each component under development can be more reliable than in the case of an actual vehicle.

[0094] In the simulation system 30 for the car according to Fig. 3. However, there is a possibility that evaluating the operation of the facility to be developed will take time and effort.

[0095] In the simulation system 30 for the car according to Fig. 3 will be in Fig. 2. Closed control loop L1 shown, consisting of the in Fig. 3 thickly outlined devices are implemented. That is, the closed control loop according to Fig. 3 includes the monitor image generator 35, the camera image generator 36, the compound eye camera monitor 37, the compound eye vehicle exterior environment camera 22, the vehicle exterior environment detection control unit 12, the VDC control unit 13 and the behavior computer 34.

[0096] In this case, the closed control loop indicates according to Fig. 3. The vehicle exterior environment detection control unit 12 and the VDC control unit 13 are described as devices for arrangement in the car. In the car, the vehicle exterior environment detection control unit 12 generates the vehicle exterior environment detection information based on a captured image of the vehicle exterior environment, which changes according to the driving state of the car, and outputs the vehicle exterior environment detection information to the vehicle's internal network 16. The VDC control unit 13 receives the vehicle exterior environment detection information from the vehicle's internal network 16. Based on the acquired vehicle exterior environment detection information, the VDC control unit 13 controls the operation of an actuator for a driving control system of the car, which is likely to change the behavior of the vehicle. Thus, the simulation system 30 for the car is described as follows: Fig. 3 designed to evaluate operation for automatic braking in which the vehicle outside environment detection control unit 12 and the VDC control unit 13 work together.

[0097] Meanwhile, the car's control system 10 contains a large number of control units. Furthermore, various sensors and actuators are coupled to each of these control units.

[0098] As described above, the vehicle exterior environment detection control unit 12 generates the vehicle exterior environment detection information based on the captured image of the vehicle exterior environment for automatic braking or the like and outputs the vehicle exterior environment detection information to the vehicle's internal network 16. The VDC control unit 13 receives the vehicle exterior environment detection information from the vehicle's internal network 16 and, based on the vehicle exterior environment detection information, performs a control action to enable the operation of an actuator for braking the car.

[0099] Furthermore, during the development of the car, the components may be developed by different developers. For example, the vehicle's external environment detection control unit 12 and the VDC control unit 13 may be developed by different developers. In this case, the evaluation of the operation of the VDC control unit 13 must be carried out while the VDC control unit 13 is installed in the car together with the vehicle's external environment detection control unit 12.

[0100] However, a reliable evaluation of the operation of the VDC control unit 13 requires, for example, that the development of the vehicle's external environment detection control unit 12 is already quite advanced. Accordingly, the evaluation of the operation of the VDC control unit 13 can only be carried out at a stage where the development of the car with the vehicle's external environment detection control unit 12 is already quite advanced. Consequently, the corrective work on the VDC control unit 13, which takes into account the results of the evaluation, will also only be carried out at a stage where the development of the car is already quite advanced.

[0101] Furthermore, if the result of the evaluation in combination with the vehicle's external environment detection control unit 12 is not desirable, the developers must perform corrective work on the car based on this result. However, based solely on the result of the evaluation in combination with the vehicle's external environment detection control unit 12, the developers may be uncertain about whether the corrective work should be performed on the vehicle's external environment detection control unit 12, on the VDC control unit 13, or on both. It is expected that the developers will estimate and determine the isolation of points that should be corrected based on the result of the combined evaluation. Therefore, there is a possibility that the developers may be uncertain when making a determination regarding the appropriate isolation of the points that should be corrected.

[0102] These and similar circumstances necessitate a long time for the development of the car, which features the VDC control unit 13 to be developed together with the vehicle external environment detection control unit 12.

[0103] With regard to cars, it is desirable to enable the evaluation of the VDC control unit 13, which is to be used in combination with the vehicle external environment detection control unit 12, at an early stage and thus to facilitate the development of the car.

[0104] Furthermore, the simulation system enables 30 for the car according to Fig. 3 basically at an early stage an evaluation of the VDC control unit 13 to be used in combination with the vehicle external environment detection control unit 12 and thus facilitates the development of the car.

[0105] The closed control loop according to Fig. However, 3 indicates the The VDC control unit 13 is selected as the evaluation target. If the VDC control unit 13 does not reliably perform the control operation, the closed control loop also operates according to... Fig. 3 not reliable.

[0106] Thus, if the VDC control unit 13 is located as the evaluation target in the closed control loop of the simulation system 30, even if the evaluation is carried out in this state, a situation may arise in which it is difficult to say that the result of the evaluation has been achieved in a desirable state.

[0107] It should be noted that such a situation is not limited to the combination of the vehicle's external environment detection control unit 12 and the VDC control unit 13. In general, a similar situation can also occur in a car with a combination of an input-side control unit (first device) that outputs a first output to the vehicle's internal network 16, and an output-side control unit (second device) that receives the first output from the vehicle's internal network 16 and performs a control action.

[0108] In particular, if the input-side control unit (first device) detects a target that can change with the driving state of the car, and outputs the first output through the vehicle's internal network 16 to the VDC control unit 13, and the output-side control unit (second device) receives the first output from the vehicle's internal network 16 and, according to the first output, controls the operation of a vehicle actuator that is likely to change the vehicle's behavior, it is necessary to form a closed-loop control system, as described above for the simulation system 30 for the car. Fig. 3 described.

[0109] Fig. Figure 5 is an illustrative representation of a basic configuration of a simulation system 60 for a car according to the first embodiment of the invention.

[0110] The simulation system 60 according to Fig. 5 is an improvement of the simulation system 30 according to Fig. 3.

[0111] The simulation system 60 according to Fig. 5 features a main simulator 601, a sub-simulator 602, an intermediate facility switching device consisting of a first intermediate facility switch 70 and a second intermediate facility switch 71, and a facility evaluator 90 as a detector.

[0112] Furthermore, the simulation system 60 is suitable according to Fig. 5 for the evaluation of the VDC control unit 13 to be used in the car for automatic braking of the car in combination with the vehicle external environment detection control unit 12.

[0113] The setup evaluator 90 is a device that detects and evaluates the operation of the brake actuator 23, which operates under the control of the VDC control unit 13. Details will be described later.

[0114] As with the simulation system 30 according to Fig. The main simulator 601 comprises the vehicle-internal main network 31, the main communication network 32, a first synchronous switching unit 61, the event generator 39, the driving environment generator 40, a first behavior computer 63, the monitor image generator 35, and the camera image generator 36. The vehicle-internal main network 31 can be the vehicle-internal main network 16 itself, used in the control system 10 of the car, or a network equivalent to it. The first synchronous switching unit 61, the event generator 39, the driving environment generator 40, the first behavior computer 63, the monitor image generator 35, and the camera image generator 36 are coupled to the main communication network 32.

[0115] The camera image generator 36 is coupled to the compound eye camera monitor 37. Here, the first synchronous switching device 61 is added to the first intermediate device 70. However, the first synchronous switching device 61 can, in principle, be connected to the synchronous switching device 33 according to... Fig. 3. A simulation function of the VDC control unit 13 has been added to the first behavioral computer 63. However, the first behavioral computer 63 can, in principle, be similar to the behavioral computer 34 according to Fig. 3. For example, the first behavioral computer 63 captures the vehicle exterior environment detection information output by a first vehicle exterior environment detection control unit 121 to the vehicle's internal main network 31 and performs a computational processing operation. The simulation function of the VDC control unit 13 is described later.

[0116] Furthermore, the vehicle's main network 31 can be used to control the devices in the car's control system 10 according to Fig. 1. Other devices besides at least the VDC control unit 13 as the evaluation target here and the brake actuator 23 may also be coupled. The first vehicle exterior environment detection control unit 121 and the operating control unit are given here as examples of the vehicle's internal main network 31. Furthermore, the compound-eye vehicle exterior environment camera 22 is coupled to the first vehicle exterior environment detection control unit 121. The operating control unit is coupled to the control element 21. Here, as in Fig. 3, the first vehicle exterior environment detection control unit 121 being the one that the vehicle exterior environment detection control unit 12 according to Fig. 1 is similar.

[0117] The sub-simulator 602 has an in-vehicle sub-network 64, a sub-communication network 65, a second synchronous switching unit 66, and a second behavior computer 67. A second synchronous switching unit 66 and a second behavior computer 67 are coupled to the sub-communication network 65. Here, the second intermediate switching unit 71 is added to the second synchronous switching unit 66.

[0118] In principle, the second synchronous switching unit 66 can, however, be used in conjunction with the synchronous switching unit 33 according to Fig. 3. The second behavioral computer 67 generates insufficient information in the information input into the VDC control unit 13 of the sub-simulator 602.

[0119] In principle, the second behavior calculator 67 can be compared to the behavior calculator 34 according to Fig. 3. The calculation of the insufficient input information regarding the VDC control unit 13 will be described later.

[0120] With the vehicle-internal subnetwork 64, the first vehicle external environment detection control unit 121 together with the VDC control unit 13 as evaluation target and the brake actuator 23 in the control system of the car according to Fig. 1 coupled. The first vehicle exterior environment detection control unit 121 works together with the VDC control unit 13. The brake actuator 23 is coupled to the VDC control unit 13. Furthermore, the setup evaluator 90 is arranged for the VDC control unit 13 and the brake actuator 23.

[0121] The first intermediary device 70 outputs information recognizable by the vehicle's internal main network 31 and the main communication network 32 to the second intermediary device 71 for the first synchronous switching device 61. The first intermediary device 70 can filter the information recognizable by the first synchronous switching device 61 and output a portion of the information to the second intermediary device 71. Furthermore, the first intermediary device 70 can output information input by the second intermediary device 71 through the first synchronous switching device 61 to the vehicle's internal main network 31 or the main communication network 32.

[0122] The second intermediary 71 outputs information that can be acquired by the vehicle's internal subnetwork 64 and the subcommunication network 65 to the first intermediary 70 for the second synchronous switching unit 66. The second intermediary 71 can filter the information acquired for the second synchronous switching unit 66 and output some of the information to the first intermediary 70. Furthermore, the second intermediary 71 can output information received by the first intermediary 70 through the second synchronous switching unit 66 to the vehicle's internal subnetwork 64 or the subcommunication network 65.

[0123] Thus, the first intermediary device 70 and the second intermediary device 71 control the sending and receiving of information between the main simulator 601 and the sub-simulator 602. The main simulator 601 is designed such that it receives information from the sub-simulator 602 for its control via the intermediary device from the first intermediary device 70 and the second intermediary device 71, but this information is insufficient.

[0124] The sub-simulator 602 is designed to receive insufficient information for its control from the main simulator 601 via the inter-device switching device from the first inter-device switch 70 and the second inter-device switch 71. For example, the second behavioral computer 67 is designed to receive the information required for its calculations from the main simulator 601. The content of the information to be sent and received between the main simulator 601 and the sub-simulator 602 will be described later.

[0125] As described, in the simulation system 60 according to Fig. 5 is coupled to at least one control unit with the vehicle's internal main network 31, which outputs the first output to the control unit as the evaluation target. Furthermore, in the main simulator 601, a closed-loop control system L1 is implemented according to Fig. 2 corresponding closed control loop through the in Fig. 5 thickly outlined devices are implemented. That is, the closed control loop exhibits in Fig. 5 the monitor image generator 35, the camera image generator 36, the compound eye camera monitor 37, the compound eye vehicle exterior environment camera 22, the first vehicle exterior environment detection control unit 121 and the first behavior computer 63.

[0126] The first vehicle external environment detection control unit 121 can operate reliably in an environment simulating the car's control system 10, in an environment not influenced by the operation of the VDC control unit 13 as the evaluation target, and in the state in which the car is driving in the virtual space.

[0127] Furthermore, in the simulation system 60 according to Fig. 5. The VDC control unit 13 is coupled to the vehicle-internal subnetwork 64 of the sub-simulator 602 as an evaluation target in order to keep the VDC control unit 13 outside the closed control loop described above. Furthermore, the vehicle external environment detection control unit 12, which is to be used as an evaluation target together with the VDC control unit 13, is present in both the main simulator 601 and the sub-simulator 602. The first vehicle external environment detection control unit 121 is located in the closed control loop as the vehicle external environment detection control unit 12 of the main simulator 601.

[0128] In contrast, the second vehicle exterior environment detection control unit 122, as vehicle exterior environment detection control unit 12 of the sub-simulator 602, is located outside the closed control loop, as is the case with the VDC control unit 13 as the evaluation target. However, since the second vehicle exterior environment detection control unit 122 is supplied with the same parallax image as the first vehicle exterior environment detection control unit 121, the second vehicle exterior environment detection control unit 122 is fundamentally designed to perform a similar control operation to the first vehicle exterior environment detection control unit 121 and to generate the vehicle exterior environment detection information similarly to the first vehicle exterior environment detection control unit 121.

[0129] The second vehicle exterior environment detection control unit 122 requires the image of the vehicle exterior environment from the compound-eye vehicle exterior environment camera 22 for its operation. Accordingly, in the simulation system 60 according to Fig. 5 The compound-eye vehicle exterior environment camera 22 is coupled to the second vehicle exterior environment detection control unit 122 of the sub-simulator 602 via a direct line 69 for arrangement in the main simulator 601. This allows the second vehicle exterior environment detection control unit 122 to detect information regarding a detection target, such as a driving obstacle, in parallel with the first vehicle exterior environment detection control unit 121 and to generate the vehicle exterior environment detection information regarding the detection target.

[0130] The information regarding the detection target is generated for the first vehicle exterior environment detection control unit 121 by the camera image generator 36 of the main simulator 601. Furthermore, the second vehicle exterior environment detection control unit 122 can output the vehicle exterior environment detection information to the vehicle's internal subnetwork 64.

[0131] Furthermore, for example, the first vehicle exterior environment detection control unit 121 can output the image of the vehicle exterior environment from the compound-eye vehicle exterior environment camera 22 to the vehicle's internal main network 31. The image of the vehicle exterior environment from the compound-eye vehicle exterior environment camera 22 can also be forwarded from the main simulator 601 to the sub-simulator 602. In this case, the second vehicle exterior environment detection control unit 122 can receive the image of the vehicle exterior environment from the compound-eye vehicle exterior environment camera 22 of the main simulator 601, execute the desired control operation, and output the vehicle exterior environment detection information.

[0132] Furthermore, the simulation system 60 can be used according to Fig. 5 of the first vehicle external environment detection control unit 121, by coupling it to the main vehicle network 31, is enabled to operate in the environment that simulates the control system 10 of the car, and to enable the first vehicle external environment detection control unit 121 to output the vehicle external environment detection information as a first output.

[0133] Furthermore, the simulation system 60 can be used according to Fig. 5 of the VDC control unit 13, by coupling it to the vehicle's internal subnetwork 64, are enabled to operate in the environment that simulates the car's control system 10.

[0134] Of the vehicle's main network 31 and its subnetwork 64, at least the subnetwork 64 can be the same as the vehicle's main network 16 actually used in the car together with the VDC control unit 13. However, the vehicle's main network 31 does not have to be the same as the vehicle's main network 16 used in the car's control system 10, but can also be equivalent to the vehicle's main network 16 used in the car's control system 10.

[0135] In particular, when the evaluation of the vehicle external environment detection control unit 12, which is to be used as the first vehicle external environment detection control unit 121, is completed, the vehicle internal main network 31 does not have to be the same as the vehicle internal network 16 actually to be used together with the VDC control unit 13 in the car.

[0136] This section describes the information required by the VDC control unit 13 for the predetermined control operation.

[0137] As in Fig. As shown in Figure 1, when performing automatic braking control, the VDC control unit 13 requires information from the detection control unit 15, such as the car's speed, the car's acceleration rate, and the wheel speeds, in addition to the vehicle's external environment detection information from the vehicle's external environment detection control unit 12.

[0138] The VDC control unit 13 controls an operating value and operating state of the brake actuator 23 during automatic braking, based on information provided to the VDC, such as the vehicle's speed, acceleration rate, and wheel speeds. The VDC control unit 13 controls the operating value and operating state of the brake actuator 23 during automatic braking so that the vehicle stops within a certain distance of the detected obstacle.

[0139] Furthermore, if there is a large difference between the instantaneous distance of movement obtained from the wheel speeds and the instantaneous distance of movement obtained from the speed of the car during braking, the VDC control unit 13 can also perform an adjustment control to suppress the operation of the brake actuator 23 and the operation of an ABS (anti-lock braking system) device not shown.

[0140] In this case, the first intermediary device 70 makes a selection from the vehicle outside environment detection information from the vehicle outside environment detection control unit 12 and the information regarding the speed and acceleration rate of the car, which is to be obtained as a calculation result of the first behavior computer 63, by means of a predetermined filter processing for the arrangement in the first synchronous intermediary device 61.

[0141] The vehicle's external environment detection information from the vehicle's external environment detection control unit 12 and the information regarding the vehicle's speed and acceleration rate, obtained as a calculation result from the first behavioral computer 63, are generated in the main simulator 601, in which the vehicle's external environment detection control unit 12 operates. Furthermore, the first intermediate device intermediary 70 outputs selected information to the second intermediate device intermediary 71 for processing in the second synchronous switching device 66. The second synchronous switching device 66 can output the information received from the main simulator 601 to the sub-communication network 65 and the vehicle's internal subnetwork 64.

[0142] Furthermore, in the sub-simulator 602, the second behavioral computer 67, which cooperates with the VDC control unit 13, calculates the wheel speeds of the car in which the VDC control unit 13 is located, based on the information received from the main simulator 601 regarding speed and the like. The second behavioral computer 67 outputs the generated information regarding the car's wheel speeds to the sub-communication network 65. The second synchronous switching device 66 receives the information regarding the wheel speeds from the sub-communication network 65 and outputs the information to the vehicle's internal sub-network 64.

[0143] This allows the second behavioral computer 67 to generate the insufficient information required by the VDC control unit 13 for its automatic braking control. The second behavioral computer 67 can serve as an input computer for the VDC control unit 13 as an evaluation target.

[0144] Furthermore, the VDC control unit 13, coupled to the vehicle's internal subnetwork 64, can acquire the vehicle's external environment detection information from the first vehicle external environment detection control unit 121 operating in the closed-loop control system of the main simulator 601, or the equivalent vehicle external environment detection information from the second vehicle external environment detection control unit 122 operating in the sub-simulator 602. Furthermore, the VDC control unit 13 can, as in the case according to Fig. 1. All information required for the control operation of the automatic braking system is obtained from the vehicle's internal subnetwork 64.

[0145] It should be noted that in the simulation system 60 according to Fig. 5 the facilities according to Fig. 1 are recorded to evaluate the control operation for automatic braking in relation to the devices of the control system 10 for arrangement in the car.

[0146] When evaluating the control operation for other functions of the car, the various components can be integrated into the simulation system 60 according to... Fig. 5 devices of the control system 10 of the car to be recorded compared to those according to Fig. 5 can be modified.

[0147] Furthermore, when evaluating the control operation for each function of the car, all devices of the car's control system 10 can also be included in the simulation system 60 according to Fig. 5 will be recorded.

[0148] Fig. 6 is a block diagram of a basic configuration according to Fig. 5 simulation system 80 to be implemented for the evaluation of a car.

[0149] Fig. 6 together with the main components according to Fig. Figure 5 shows a VDC operating unit 81 as a control operating unit, a vehicle behavior computer 82, and a wheel speed computer 83 as configurations of the simulation system 80. The hatched boxes in the figure are the various components in the car's control system 10 according to Fig. 1 shown and in the simulation system 60 according to Fig. 5 facilities to be ordered.

[0150] The VDC operating indicator 81 provides a control output of the VDC control unit 13 or an operating output of the actuator according to the specifications of a vehicle external environment detection control unit 123. Fig. 6 vehicle exterior environment detection information is displayed.

[0151] It is sufficient that the VDC operating device 81 represents, for example, an input and an output to or from the VDC control unit 13, or an input and an output to or from the entirety of the VDC control unit 13 and the actuator.

[0152] For example, each control unit for placement in the car's control system 10 is developed through processes such as input / output design, requirements design, and operational design of each control unit based on the required specifications for the entire car. In this case, by the time a control unit is designed for evaluation, the input / output design, requirements design, operational design, and the like are completed with respect to that control unit.

[0153] Based on the information regarding these existing designs, the input and output to and from the VDC control unit 13, as well as the input and output to and from the combined VDC control unit 13 and the actuator, can be easily modeled. Furthermore, it is highly likely that every manufacturer has already developed similar types of control units. In this case, the already developed control units can also be modeled. Based on these models, the VDC operating model 81 can represent the input and output to and from the VDC control unit 13, or the input and output to and from the combined VDC control unit 13 and the actuator.

[0154] The vehicle behavior computer 82 calculates, for example, using an output from the VDC operating unit 81, the behavior of the car, which is variable with the operation of the brake actuator 23, and the driving state of the car.

[0155] The Wheel Speed ​​Calculator 83 calculates the wheel speeds of a car, for example, based on the car's speed. Even if the vehicle's speed remains constant, the wheel speeds can vary, depending on factors such as the circumference of the car's wheels.

[0156] Furthermore, it points out that Fig. 6 the closed control loop of the main simulator 601 according to Fig. 5 the monitor image generator 35 (not shown), the camera image generator 36, the compound eye camera monitor 37, the compound eye vehicle exterior environment camera 22, the vehicle exterior environment detection control unit 123, the VDC operating unit 81 and the vehicle behavior computer 82.

[0157] In this case, the camera image generator 36 and the monitor image generator 35 serve as a vehicle exterior environment image generator, which, using a calculation result of the vehicle behavior computer 82, generates the image of the vehicle exterior environment in the driving state of the car, which is variable with the operation.

[0158] The compound eye camera monitor 37 serves as a display device that shows the image of the vehicle's external environment generated by the camera image generator 36.

[0159] The compound-eye vehicle exterior environment camera 22 serves as an image capture element that captures the image of the vehicle exterior environment displayed by the display unit and outputs the captured image as the captured image of the vehicle exterior environment to the vehicle exterior environment detection control unit 123.

[0160] The VDC operating unit 81 and the vehicle behavior computer 82 are in the first behavior computer 63 of the main simulator 601 according to Fig. 5 realized. Thus, the first behavior calculator calculates 63 according to Fig. 5. The behavior of the vehicle, which has the control operation of the VDC control unit 13 as its evaluation target. The first behavior computer 63, acting as a VDC operating agent 81, can, for example, perform a calculation based on a mathematical expression or a table to output the input / output relation of the VDC control unit 13 as its evaluation target, and calculate the behavior of the car using the VDC control unit 13. Furthermore, the first behavior computer 63 can calculate the behavior of the entire car and the driving state of the car after the execution of the behavior using the calculation result of the car's behavior as a VDC operating agent 81.

[0161] Furthermore, the wheel speed computer 83 is in the second behavior computer 67 of the sub-simulator 602 according to Fig. 5. The second behavioral computer 67 receives information via the subcommunication network 65, such as the speed, which indicates the behavior of the vehicle calculated by the first behavioral computer 63, or the driving state of the car according to this behavior. The second behavioral computer 67, acting as a wheel speed computer 83, calculates the information to be input into the VDC control unit 13 according to the information to be acquired, e.g., the speed.

[0162] The second behavioral computer 67, acting as a wheel speed computer 83, outputs the calculation result to the sub-communication network 65. The second synchronous switching unit 66 outputs the calculation result of the wheel speed computer 83, which was output to the sub-communication network 65, via the vehicle's internal sub-network 64 to the VDC control unit 13.

[0163] Furthermore, the vehicle's external environment detection control unit 123 complies with Fig. 6 both of the first vehicle exterior environment detection control unit 121 of the main simulator 601 according to Fig. 5 as well as the second vehicle exterior environment detection control unit 122 of the sub-simulator 602. The second vehicle exterior environment detection control unit 122 is designed to operate similarly to the first vehicle exterior environment detection control unit 121. That is, the vehicle exterior environment detection information from the vehicle exterior environment detection control unit 123 is processed according to Fig. 6 was output to the VDC operating unit 81 and the VDC control unit 13.

[0164] Thus, the vehicle's external environment detection control unit 123 operates according to Fig. 6 in the closed control loop that generates the driving state of the car.

[0165] Furthermore, the vehicle external environment detection control unit 123, which operates in the closed control loop, is designed according to Fig. 6 is designed to output the generated vehicle external environment detection information to the VDC control unit 13, which is not included in the closed control loop.

[0166] The furnishing evaluator 90 according to Fig. 6 features an evaluation user interface device 91 and an evaluation camera 92 coupled to the evaluation user interface device 91.

[0167] The evaluation camera 92 detects the operation of the brake actuator 23 by capturing images. For example, in a hydraulic braking system, a brake pad is pressed against a brake disc by hydraulic pressure to generate a braking force. The evaluation camera 92 can detect a change in the oil level caused by the hydraulic pressure. This allows the evaluation camera 92 to detect the operating value and the operating state of the brake actuator 23, whose operation is controlled by the VDC control unit 13, based on the position of the oil level and the change in the oil level caused by the operation of the brake actuator 23.

[0168] The evaluation user interface device 91 can, for example, be a device in which a monitor serves as a user interface or the like for the computer device 50 according to Fig. 4 is added. In this case, the evaluation user interface unit 91 can, for example, display an image of the oil level taken by the evaluation camera 92 on the monitor. The display on the monitor allows the developers to check the operating value and the operating status of the brake actuator 23. Furthermore, the evaluation user interface unit 91 can store master data regarding changes in the oil level, for example, according to a scenario in the simulation system 80, and display a comparison result with the master data on the monitor.

[0169] As described, the simulation system 80 can... Fig. 6. This enables the vehicle's external environment detection control unit 123 to operate in a closed control loop that does not include the VDC control unit 13 as an evaluation target. Furthermore, the simulation system 80 can be configured according to Fig. 6. The vehicle external environment detection information is output as the first output of the vehicle external environment detection control unit 123, which operates in such a closed control loop, to the VDC control unit 13 as an evaluation target outside the closed control loop.

[0170] Furthermore, the setup evaluator 90 is designed to monitor the operating state of the brake actuator 23, whose operation is controlled by the VDC control unit 13 as the evaluation target, using the evaluation camera 92, and to provide the developers with the operating state of the brake actuator 23. Thus, if a change in the oil level, e.g., according to the scenario in the simulation system 80, is undesirable, the developers can easily verify this and begin corrective work. Furthermore, since the simulation system 80 is designed according to Fig. 6 on the simulation system 60 according to Fig. 5 is based on the fact that different types of information are stored during the execution of the scenario.

[0171] Accordingly, more comprehensive information can be obtained as an evaluation result than with an actual vehicle. By analyzing the information, the developers can easily identify, based on the evaluation result, the points that lead to a failure to achieve the desired result and the points that should therefore be corrected. If the evaluation result is not satisfactory, the developers can easily and reliably determine whether the cause lies with the vehicle's external environment detection control unit 12 or with the VDC control unit 13.

[0172] It should be noted that in the preceding description regarding Fig. 6 of the wheel speed calculator 83 in the second behavior calculator 67 of the sub-simulator 602 according to Fig. 5 is realized.

[0173] Furthermore, the wheel speed computer 83 can also be used, for example, in the first behavior computer 63 of the main simulator 601 according to Fig. 5 will be realized.

[0174] In this case, the information required by the VDC control unit 13 for automatic braking control, with the exception of the vehicle outside environment detection information generated by the vehicle outside environment detection control unit 123, is all generated by the main simulator 601 and forwarded to the sub-simulator 602.

[0175] Fig. Figure 7 is a schematic illustrative representation of the operating time of the main simulation system 60 according to Fig. 5 in the simulation system 80 according to Fig. 6.

[0176] Fig. Figure 7 presents the information to be generated by the main simulator 601 and the information to be generated by the sub-simulator 602 in top to bottom order. Specifically, the information from the main simulator 601 includes the vehicle exterior environment detection information as output from the first vehicle exterior environment detection control unit 121 in the main simulator 601, the VDC data as output from the VDC operating unit 81, and the parallax image to be generated by the camera image generator 36.

[0177] The information from sub-simulator 602 includes the vehicle's external environment detection information as output from the second vehicle external environment detection control unit 122 in sub-simulator 602, and the VDC data as output from VDC control unit 13. The VDC data from VDC control unit 13 is output to the brake actuator 23.

[0178] Furthermore, it runs in Fig. 7 the time from left to right.

[0179] As in Fig. As shown in Figure 7, in the main simulator 601, the first vehicle exterior environment detection control unit 121 outputs the vehicle exterior environment detection information as its first output at time t1. The VDC operating unit 81 outputs the VDC data. The camera image generator 36 generates the parallax image.

[0180] Within a time window at time t2, the first vehicle exterior environment detection control unit 121 in the main simulator 601 outputs the vehicle exterior environment detection information based on the parallax image generated at time t1. The VDC operating unit 81 outputs the VDC data. The camera image generator 36 generates the parallax image.

[0181] Within a time window at time t3, the first vehicle exterior environment detection control unit 121 in the main simulator 601 outputs the vehicle exterior environment detection information based on the parallax image generated at time t2. The VDC operating unit 81 outputs the VDC data. The camera image generator 36 generates the parallax image.

[0182] While such control is performed in the main simulator 601, the sub-simulator 602 also performs a control operation.

[0183] This means that the second vehicle exterior environment detection control unit 122 of the sub-simulator 602 outputs the vehicle exterior environment detection information at time t1, based on the parallax image generated in the main simulator 601. The VDC control unit 13 outputs the VDC data to the brake actuator 23.

[0184] During the time window at time t2, the second vehicle exterior environment detection control unit 122 of the sub-simulator 602 outputs the vehicle exterior environment detection information based on the parallax image generated at time t1 by the processing in the main simulator 601. The VDC control unit 13 outputs the VDC data to the brake actuator 23.

[0185] During the time window at time t3, the second vehicle exterior environment detection control unit 122 of the sub-simulator 602 outputs the vehicle exterior environment detection information based on the parallax image generated at time t2 by the processing in the main simulator 601. The VDC control unit 13 outputs the VDC data to the brake actuator 23.

[0186] As described, the main simulator 601 and the sub-simulator 602 are designed to execute the control operation in each cycle of the time windows defined in the vehicle's internal network 16. The basic simulation system 60 according to Fig. The main simulator 601 and the sub-simulator 602 are designed to operate synchronously according to the cycles of the time windows defined in the vehicle's internal network 16. For example, in the car, the second vehicle exterior environment detection control unit 122 and the VDC control unit 13 are designed to input and output the vehicle exterior environment detection information as the first output, using the time windows assigned for periodic communication by the vehicle's internal network 16.

[0187] Furthermore, in Fig. 7. A cycle Tc0 of the control operation of the simulation systems 60 and 80, a cycle Tc1 of the control operation of the main simulator 601, and a cycle Tc2 of the control operation of the sub-simulator 602 are identical. The control operation cycles can, in principle, be the same as a control cycle in the car used as the evaluation target.

[0188] In contrast, the camera image generator 36, which outputs the information regarding the detection target to the first vehicle exterior environment detection control unit 121 and the second vehicle exterior environment detection control unit 122, updates the parallax image to be output to the compound eye camera monitor 37 for each cycle Tc3 that is shorter than the control cycles Tc0 to Tc2 of these time windows. Fig. 7. The parallax image is updated approximately three times in each control cycle Tc0, Tc1, or Tc2 for a given time window. In this case, the parallax image update cycle Tc3 is a short cycle of approximately 1 / 3 of the control cycles Tc0 to Tc2 of the time windows.

[0189] Thus, the camera image generator 36 can update the parallax image as soon as the VDC data is updated in each cycle Tc1. The camera image generator 36 can update the output parallax image in each control cycle of the time windows.

[0190] The first vehicle exterior environment detection control unit 121 and the second vehicle exterior environment detection control unit 122 can detect information regarding the detection target, which can be updated in shorter cycles than their operating cycles. That is, since the detection target can be updated in shorter cycles than the time windows, both the first vehicle exterior environment detection control unit 121 and the second vehicle exterior environment detection control unit 122 can operate with similar timeframes as if they were operating in a car.

[0191] It should be noted that, as in Fig. Figure 5 shows that the first vehicle exterior environment detection control unit 121 and the second vehicle exterior environment detection control unit 122 are coupled with the same compound eye vehicle exterior environment camera 22 and may be supplied with the same image of the vehicle exterior environment.

[0192] Accordingly, the vehicle exterior environment detection information to be output by the first vehicle exterior environment detection control unit 121 and the vehicle exterior environment detection information to be output by the second vehicle exterior environment detection control unit 122 may be the same.

[0193] Accordingly, it is to be expected that in the time windows of the same time, which in Fig. 7 vertically match, the vehicle exterior environment detection information in the main simulator 601 and the vehicle exterior environment detection information in the sub-simulator 602 are also the same.

[0194] Similarly, it is expected that the VDC data to be generated based on the same vehicle exterior environment detection information will be the same for the main simulator 601 and the sub-simulator 602.

[0195] Consequently, although the brake actuator operates in the sub-simulator 602 by means of the input of VDC data by the VDC control unit 13, the control actuator can be considered as being operated by means of the VDC data from the main simulator 601, thus forming a closed control loop.

[0196] Fig. Figure 8 is a flowchart of an entire control sequence for the evaluation of automatic braking in the simulation systems 60 and 80 according to the embodiment.

[0197] The simulation system 60 according to Fig. 5 and the simulation system 80 according to Fig. Six are designed to, for example, perform control based on a predetermined driving scenario of the car in order to evaluate automatic braking. An example of such a driving scenario is described here. The flowchart according to Fig. 8 can be carried out by the facilities that form the simulation systems 60 and 80 in cooperation with each other.

[0198] Furthermore, the flowchart is presented here in Fig. Section 8 describes, with an example given of a case in which the first behavioral computer 63 of the main simulator 601 enables the car to drive in the virtual space according to the driving scenario. It should be noted that the car is also designed to drive in the virtual space according to the driver's operation of the control element 21.

[0199] It should be noted that such a driving scenario can, in principle, contain information for the car's movement from an initial position to an end position in the virtual space. The information in the driving scenario can contain similar information to that output by the control unit 11 to the vehicle's main internal network 31 when, for example, the driver operates the control element 21 to enable the car to drive in the virtual space.

[0200] In step ST1 according to Fig. 8. Simulation systems 60 and 80 output an initial driving state. For example, event generator 39 outputs a start event of the driving scenario. Driving environment generator 40 creates the virtual space at the car's initial position in the driving scenario. The first behavior computer 63 generates information for the start of the car's journey from the initial position according to the driving scenario. The information to be generated for the start of the journey can be similar to that output by the control unit to the vehicle's internal network 16, e.g., when the driver operates the control element 21 to start the vehicle's journey.

[0201] In step ST2, the first behavioral computer 63 calculates the car's behavior and the driving state after the behavior has been executed, based on the information it itself generated for the start of the journey. The first intermediate device switch 70, located in the first synchronous switching unit 61, receives information from the main communication network 32 regarding the car's speed and acceleration rate, as well as information regarding the driving state after the behavior has been executed, and outputs this information to the second intermediate device switch 71, located in the second synchronous switching unit 66.

[0202] In step ST3, the monitor image generator creates the field-of-view image from the car's perspective with respect to the car's position after the behavior has been executed, and the camera image generator 36 further generates the parallax image. The compound eye camera monitor 37 displays the parallax image after the behavior has been executed.

[0203] In step ST4, the car's external compound eye vehicle exterior environment camera 22 records the parallax image displayed on the compound eye camera monitor 37 after the behavior has been executed.

[0204] In step ST5, the first vehicle exterior environment detection control unit 121 analyzes the image of the vehicle exterior environment captured by the compound-eye vehicle exterior environment camera 22 and outputs the vehicle exterior environment detection information to the vehicle's main internal network 31. The first synchronous switching unit 61 receives the vehicle exterior environment detection information from the vehicle's main internal network 31 and outputs the vehicle exterior environment detection information to the main communication network 32.

[0205] Furthermore, the first intermediate device switch 70, located in the first synchronous switching unit 61, receives the vehicle exterior environment detection information from the vehicle's main network 31 and outputs this information to the second intermediate device switch 71, located in the second synchronous switching unit 66. The second synchronous switching unit 66 outputs the vehicle exterior environment detection information received from the main simulator 601 to the vehicle's subnetwork 64.

[0206] If there are no obstacles in the virtual space in the direction of travel of the car, the first vehicle exterior environment detection control unit 121 can output insignificant vehicle exterior environment detection information, or alternatively, the first vehicle exterior environment detection control unit 121 may not output any vehicle exterior environment detection information at all. In such a case, the simulation systems 60 and 80 do not execute the processes of steps ST6 to ST8.

[0207] In contrast, simulation systems 60 and 80, for example, execute the processes of steps ST6 to ST8 when the driving scenario has already progressed further and an obstacle is located in the virtual space in the direction of travel of the car. Details will be described later.

[0208] In step ST9, the first behavioral computer 63 calculates the actual behavior and driving state of the car using the car's previous behavior and driving state immediately prior to this and the information newly received from the main communication network 32. Specifically, if an obstacle is present in the virtual space in the car's direction of travel and significant information from the vehicle's external environment detection has been generated, the first behavioral computer 63 first performs a computational processing operation as a VDC operating agent 81 based on the vehicle's external environment detection information. Following this, the first behavioral computer 63 calculates the car's behavior and driving state after the VDC operation. This updates the car's driving state.

[0209] In step ST10, simulation systems 60 and 80 determine whether the evaluation of automatic braking should be initiated. This determination in step ST10 can be performed, for example, by the first behavioral computer 63. The first behavioral computer 63 can, for instance, determine whether the evaluation of automatic braking should be initiated based on whether the speed of the car moving in the virtual space is suitable for the evaluation.

[0210] If the evaluation of automatic braking is not to be started, the first behavioral computer 63 causes the process to return to step ST1. The simulation systems 60 and 80, which include the first behavioral computer 63, repeat the processes of steps ST1 to ST10 until step ST10 determines that the evaluation of automatic braking should be started. Thus, if step ST10 determines that the evaluation of automatic braking should be started, the simulation systems 60 and 80, which include the first behavioral computer 63, cause the process to continue with step ST11.

[0211] In step ST11, simulation systems 60 and 80 output an evaluation event. Event generator 39 outputs the obstacle located in the virtual space ahead of the car in its direction of travel. Driving environment generator 40 creates the virtual space containing the obstacle at the car's actual position. The monitor image generator creates the car's field-of-view image relative to the car's actual position, and camera image generator 36 further generates the parallax image.

[0212] Thus, the compound-eye camera monitor 37 displays the parallax image, which contains an image of the obstacle. Consequently, in step ST5, the first vehicle exterior environment detection control unit 121 analyzes the image of the vehicle exterior environment captured by the compound-eye vehicle exterior environment camera 22 and outputs significant vehicle exterior environment detection information to the vehicle's main network 31. Furthermore, the second vehicle exterior environment detection control unit 122 also analyzes the image of the vehicle exterior environment captured by the compound-eye vehicle exterior environment camera 22 and outputs significant vehicle exterior environment detection information to the vehicle's subnetwork 64. In this case, the simulation systems 60 and 80 execute the processes of steps ST6 to ST8.

[0213] In step ST6, the VDC control unit 13 of the sub-simulator 602 receives the vehicle environment detection information output by the second vehicle external environment detection control unit 122 to the vehicle internal subnetwork 64 and executes brake control for automatic braking. The VDC control unit 13 generates the VDC data, which corresponds, for example, to the wheel speeds, the vehicle speed, and the acceleration rate, and outputs the VDC data to the brake actuator 23.

[0214] In step ST7, the brake actuator 23 performs the braking operation for automatic braking.

[0215] In step ST8, the evaluation camera 92 detects a change in the oil level based on the operation of the brake actuator 23. The image captured by the evaluation camera 92 is output to the evaluation user interface unit 91 and displayed on the monitor of the evaluation user interface unit 91. In this way, the developers in the evaluation user interface unit 91 can check the control of the automatic braking and the result of the operation during driving in the virtual space according to the driving scenario.

[0216] In step ST12, simulation systems 60 and 80 determine whether the evaluation of the automatic braking should be terminated. This determination in step ST12 can be performed, for example, by the first behavioral computer 63. The first behavioral computer 63 can determine the end of the automatic braking evaluation when, for example, the speed of the car traveling in the virtual space has been sufficiently reduced to 0 km / h or close to 0 km / h by means of automatic braking. If it is determined that the evaluation of the automatic braking should not be terminated, the first behavioral computer 63 causes the process to return to step ST2.

[0217] After step ST10 determines that the evaluation of automatic braking should be started, simulation systems 60 and 80, which include the first behavioral computer 63, repeat the processes of steps ST2 to ST12 until step ST12 determines that the evaluation of automatic braking should be terminated. Thus, when step ST12 determines that the evaluation of automatic braking should be terminated, simulation systems 60 and 80, which include the first behavioral computer 63, initiate the process to continue with step ST13.

[0218] In step ST13, simulation systems 60 and 80 evaluate the results. Each unit of simulation systems 60 and 80 can output various types of data acquired during the evaluation via a communication network (not shown) to, for example, the evaluation user interface unit 91 and record the data in the evaluation user interface unit 91. This allows the developers to comprehensively evaluate the control operation for automatic braking based on the driving scenario involving the operation of the brake actuator 23, using the evaluation user interface unit 91. Furthermore, based on the evaluation results, the developers can promptly identify a target requiring correction and correct the VDC control unit 13 as the evaluation target or correct the vehicle's external environment detection control unit 12 to be used with it.

[0219] As already described, the simulation systems 60 and 80 of the VDC control unit 13 can be used as an evaluation target by performing the evaluation control according to Fig. 8. Based on the driving scenario, the control to enable the operation of the brake actuator can be carried out. Furthermore, the developers or the like can check the evaluation result in the evaluation user interface device 91 or the like.

[0220] Furthermore, simulation systems 60 and 80 are designed to capture VDC data as output from VDC control unit 13, along with the oil level change based on brake actuator operation. Additionally, simulation systems 60 and 80 are also designed to capture information related to the output of the second vehicle exterior environment detection control unit 122, which works in conjunction with VDC control unit 13 during automatic braking evaluation, and the output of the first vehicle exterior environment detection control unit 121, which provides an equivalent result. By comparing this information during automatic braking evaluation, developers can easily identify which setup needs correction to achieve the desired outcome and determine the specifics of the necessary corrections.

[0221] It should be noted that in Fig. 8. The evaluation is carried out by simulation systems 60 and 80, which execute the driving scenario. As with simulation system 30 according to... Fig. 3. Simulation systems 60 and 90 are designed to be operated by the driver using the main simulator 601. Simulation systems 60 and 80 can execute the driving scenario and perform the evaluation by the driver, who operates the control element 21 according to the specified driving scenario.

[0222] As described above, in this embodiment, the vehicle exterior environment detection control unit 12, which outputs the first output as vehicle exterior environment detection information to the VDC control unit 13 in the car, operates by coupling the vehicle exterior environment detection control unit 12 with the vehicle's internal main network 31 of the main simulator in the environment that simulates the car's control system 10. Furthermore, the VDC control unit 13, as the evaluation target to which the first output of the vehicle exterior environment detection control unit 12 in the car is delivered, is not coupled to the vehicle's internal main network 31 of the main simulator 601, but rather to the vehicle's internal subnetwork 64 of the sub-simulator 602, which differs from the vehicle's internal main network 31.

[0223] Thus, in this embodiment, the vehicle exterior environment detection control unit 12 can operate in the environment simulated by the car's control system 10 in the main simulator 601 without being affected by the operation of the VDC control unit 13. The vehicle exterior environment detection control unit 12 can operate in the environment simulated by the car's control system 10, as shown in Fig. Figure 5 shows that the first output to be sent from the vehicle's external environment detection control unit 12 to the VDC control unit 13 can operate reliably without being affected by the operation of the VDC control unit 13 as the evaluation target.

[0224] Furthermore, the VDC control unit 13, which is coupled to the vehicle-internal subnetwork 64 of the sub-simulator 602 (which differs from the vehicle-internal main network 31 of the main simulator 601), operates according to the information generated by the main simulator 601, which operates with the vehicle-external environment detection control unit 12. Thus, although coupled to the vehicle-internal subnetwork 64 of the sub-simulator 602, the VDC control unit 13 can operate similarly to how it would if it were coupled to the vehicle-internal main network 31 of the main simulator 601 together with the vehicle-external environment detection control unit 12.

[0225] Consequently, in this embodiment, with respect to the VDC control unit 13 operating in the car with the supplied first output, the operation of the VDC control unit 13 in the environment simulating the car's control system 10 can be evaluated in the simulation system 60 for the car. With respect to the VDC control unit 13, the cooperation of the VDC control unit 13 with the vehicle's external environment detection control unit 12 can be evaluated in the simulation system 60 for the car in this embodiment even if the VDC control unit 13 is not located in the car together with the vehicle's external environment detection control unit 12.

[0226] With regard to the VDC control unit 13, the cooperation of the VDC control unit 13 with the vehicle external environment detection control unit 12 can be evaluated in the environment that simulates the control system 10 of the car and in the environment in which the vehicle external environment detection control unit 12 operates reliably.

[0227] In this embodiment, the operation of the VDC control unit 13, which operates in the control system 10 of the car in cooperation with the vehicle outside environment detection control unit 12 by supplying the first output of the vehicle outside environment detection control unit in the car, can be easily evaluated in the simulation system, which does not include the car. Second embodiment

[0228] Next, a second embodiment of the invention is described. In this embodiment, the same reference numerals for similar configurations are used as in the preceding embodiment, and their re-description is omitted. The main focus is on the differences compared to the preceding embodiment.

[0229] In this embodiment, a configuration is described in which the basic configuration of the simulation system 60 for the car is as follows: Fig. Version 5 is improved to allow simultaneous evaluation of multiple vehicles.

[0230] Fig. Figure 9 is an illustrative representation of a basic configuration of a simulation system 110 for a car according to the second embodiment of the invention.

[0231] The simulation system 110 for the car according to Fig. 9 features the single main simulator 601 and the several sub-simulators 602. Fig. Figure 9 represents several sub-simulators 602, including a first sub-simulator 112, a second sub-simulator 113, and a third sub-simulator 114. It should be noted that the number of sub-simulators 602, arranged in a plurality within the simulation system 110, can be two, four, or more.

[0232] The main simulator 601 has a similar configuration to that in Fig. 5. In Fig. However, for reasons of space, only the first synchronous switching unit 61 in the main simulator 601, which has the first intermediate switching unit 70, is shown in 9.

[0233] The first sub-simulator 112 to the third sub-simulator 114 have similar configurations to those in Fig. 5. In Fig.However, for reasons of space, only the second synchronous switching unit 66, which has the second intermediate switching unit 71, is shown in the first sub-simulator 112 to third sub-simulator 114.

[0234] Furthermore, the second intermediate facility intermediary 71 of the first sub-simulator 112, the second intermediate facility intermediary 71 of the second sub-simulator 113 and the second intermediate facility intermediary 71 of the third sub-simulator 114 are coupled with the first intermediate facility intermediary 70 of the main simulator 601.

[0235] In such a configuration, the main simulator 601 performs the closed-loop control similarly to the previous embodiment.

[0236] Furthermore, the first intermediate facility intermediary 71 simultaneously outputs the information generated in the main simulator 601 to the second intermediate facility intermediary 71 of the first sub-simulator 112, the second intermediate facility intermediary 71 of the second sub-simulator 113 and the second intermediate facility intermediary 71 of the third sub-simulator 114.

[0237] Therefore, the VDC control unit 13 located in the first sub-simulator 112 may receive insufficient information from the main simulator 601 in the first sub-simulator 112.

[0238] Furthermore, the VDC control unit 13 located in the second sub-simulator 113 may receive insufficient information from the main simulator 601 in the second sub-simulator 113.

[0239] Furthermore, the VDC control unit 13 located in the third sub-simulator 114 may receive insufficient information from the main simulator 601 in the third sub-simulator 114.

[0240] Consequently, the VDC control unit 13 of the first sub-simulator 112, the VDC control unit 13 of the second sub-simulator 113 and the VDC control unit 13 of the third sub-simulator 114 can simultaneously perform the control to enable the operation of the brake actuators 23 coupled to them.

[0241] The first vehicle exterior environment image acquisition device contained in the closed control loop of the main simulator 601 can operate reliably without being influenced by the control operation of these several VDC control units 13 as evaluation targets.

[0242] The foregoing embodiments are examples of preferred embodiments of the invention, but the invention is by no means limited thereto. Various modifications and changes can be made, as long as they do not deviate from the scope of the invention. Reference symbol list 10. Car control system (vehicle control system) 11 Operating control unit 12 Vehicle exterior environment detection control unit (first unit, input-side control unit) 13 VDC control unit (second device, output-side control unit) 14 Measuring display control unit 15 Detection control unit 16 In-vehicle network 21 Control element 22-compound vehicle exterior surround view camera 23 Brake actuator (actuator) 24 measuring display fields 25 speakers 26 wheel speed sensor 27 Acceleration rate sensor 28 Speed ​​sensor 30 Simulation system 31 In-vehicle main network 32 Main communication network 33 Synchronous switching equipment 34 Behavior Calculator 35 Monitor image generators 36 Camera image generator (area of ​​the detection target output) 37-facet eye camera monitor (area of ​​the detection target transmitter) 38 Driver Monitor 39 event generators 40 driving environment generators 48 Vehicle Control System Actors 50 Computer setup 51 Communication port 52 timers 53 storage 54 CPU 55 Internal Bus 60, 80 Simulation system 61 First Synchronous Interconnection System 63 First behavior calculator 64 In-vehicle subnetwork 65 Sub-communication network 66 Second Synchronous Switching Unit 67 Second behavior calculator (input calculator) 69 Direct Line 70 First Intermediary Institution (Area of ​​Intermediary Institution Placement) 71 Second Intermediary Institution (Area of ​​Intermediary Institution Intermediary Institution) 81 VDC operating actor (second setup actor) 82 Vehicle Behavior Calculators 83 Wheel speed calculator 90 Equipment evaluators (detectors) 91 Evaluation User Interface Setup 92 Evaluation camera 110 Simulation system 112 First sub-simulator 113 Second sub-simulator 114 Third Sub-Simulator 121 First vehicle exterior environment detection control unit 122 (first input-side control unit) Second vehicle exterior environment detection control unit (second input-side control unit) 601 Main Simulator 602 Sub-simulator QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2018- 144 526 A

[0006]

Claims

[1] Simulation system for a vehicle to enable the operation of a second device, wherein the second device is designed to operate based on an output from a first device in the vehicle, the simulation system has the following features: - a main simulator designed to enable the first facility to operate in an environment simulating a vehicle control system by coupling the first facility to an in-vehicle main network; - a sub-simulator designed to enable the second device to operate in the environment simulating the vehicle's control system by coupling the second device to an in-vehicle sub-network that is distinct from the in-vehicle main network; and - an intermediate facility switching device designed to output information generated in the main simulator to the sub-simulator, in which the second facility operates, wherein the second unit, coupled to the vehicle's internal subnetwork, is designed to operate according to the information generated by the main simulator in which the first unit operates. [2] Simulation system for the vehicle according to claim 1, wherein in the vehicle the first device is an input-side control unit designed to detect a target variable with a driving state of the vehicle and to output a first output through the vehicle's internal main network to the second device, wherein the second device in the vehicle is an output-side control unit designed to receive the first output from the vehicle's internal main network and, according to the first output, to control the operation of an actuator of the vehicle that is likely to change the behavior of the vehicle, where in the main simulator a first of the input-side control units is coupled as the first device with the vehicle's main internal network, the main simulator features the following: - a first synchronous switching device coupled to the vehicle's main network and designed to forward the first output issued by the first input control unit to the vehicle's main network; - a second device actor designed to capture the first output through the first synchronous switching device and to represent a control output of the second device in accordance with the first output or an operating output of the actor; - a vehicle behavior calculator designed to calculate the vehicle's behavior using an output from the second facility's display; - a detection target output designed to generate information, using a calculation result from the vehicle behavior computer, that contains a detection target for the input-side control unit, and to enable the first input-side control unit to detect the information, and - wherein a closed control loop consisting of the first synchronous switching device, the second device actor, the vehicle behavior computer, the detection target outputter and the first of the input-side control unit is designed such that the first of the input-side control unit, which is designed to operate in the environment simulating the vehicle's control system, can operate in a state in which the vehicle is driving. [3] Simulation system for the vehicle according to claim 2, where in the sub-simulator with the vehicle's internal subnetwork, the output-side control unit is coupled as a second device and a second input-side control unit is coupled as a first device, and The second input-side control unit is designed to detect the detection target generated for the first input-side control unit by the detection target output of the main simulator and to output the first output to the vehicle's internal subnetwork. [4] Simulation system for the vehicle according to claim 3, wherein the input-side control unit and the output-side control unit in the vehicle are designed to input and output the first output through the vehicle's main internal network using time windows allocated for periodic communication, and wherein the detection target outputr, which is designed to output the information containing the detection target to the first of the input control units, and the second of the input control units are designed to update the information containing the detection target in shorter cycles than the cycles of the time windows. [5] Simulation system for the vehicle according to claim 4, wherein the sub-simulator comprises: - an input computer designed to receive, via the intermediary device, the information generated in the main simulator and to generate information to be received by the output control unit via the vehicle's internal subnetwork from a control unit other than the input control unit as the first device; and - a second synchronous switching device that is coupled to the input computer and the vehicle's internal subnetwork and is designed to output the information generated by the input computer to the vehicle's internal subnetwork. [6] Simulation system for the vehicle according to claim 5, wherein the actuator is coupled to the output control unit and wherein a detector is arranged which is designed to detect the operation of the actuator. [7] Simulation system for the vehicle according to claim 6, further comprising: - Sub-simulators that feature the sub-simulator.

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