Integrated simulation apparatus, control method thereof, and integrated simulation system

Abstract

To provide a technique for increasing the speed of simulation processing of an integrated simulation apparatus.SOLUTION: Each of a plurality of simulators 107-110 includes a virtual timer which counts the period in which simulation for a virtual unit time is executed, and a sub-time synchronization unit 112 which declares output time of a result of the simulation for the virtual unit time, to a control apparatus 101. The control apparatus 101 includes: a main-time synchronization unit 103 which sets same count start actual time of the virtual timer and same count period for the simulators 107-110; a communication planning unit 105 which adjusts the output time declared by each of the simulators 107-110; and a communication time instruction unit 106 which notifies the simulators 107-110 of the output time adjusted by the communication planning unit 105. Each of the simulators 107-110 outputs the result of the simulation for the virtual unit time to the other simulators at the adjusted output time.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an integrated simulation device, a control method thereof, and an integrated simulation system. [Background technology]

[0002] By utilizing model-based development and simulation, it is possible to shorten the development period and reduce the development costs in the development of control functions for moving objects such as automobiles. To achieve this, it is necessary to realize an integrated simulation device that is capable of high-precision and high-speed processing by integrating multiple heterogeneous simulators through distributed and parallel processing.

[0003] In such an integrated simulation device, the simulations handled by each simulator take different processing times due to differences in the calculation content, and therefore the timing at which the processing results are output differs for each simulator. This makes synchronization control between the simulators complicated, making it difficult to achieve high-speed simulations.

[0004] In model-based development and simulation, devices such as those described in Patent Documents 1 and 2 are disclosed as techniques for integrating a plurality of different simulators having different processing times.

[0005] Patent Document 1 discloses a technology in which each simulator stores output data in a calculation data storage unit of a control device, and each simulator retrieves input data from the calculation data storage unit according to a calculation instruction flag set by the control device to execute a simulation.

[0006] Patent Document 2 discloses a technique in which, when a control device instructs each simulator to execute processing, each simulator starts progressing the virtual time and executing the processing, and when each simulator completes processing for a reference synchronization time, it stops the virtual time and waits for the next instruction from the control device. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2017-41201 A [Patent Document 2] JP 2008-310449 A Summary of the Invention [Problem to be solved by the invention]

[0008] However, in the techniques of Patent Documents 1 and 2, the control device needs to instruct each simulator to execute processing every unit time, so it takes time for the control device to issue the instruction. Also, in the technique of Patent Document 1, data is transferred between each simulator via the control device, so it takes time to exchange data between each simulator.

[0009] Therefore, the techniques described in Patent Documents 1 and 2 cannot exchange data between multiple simulators at high speed, and therefore cannot speed up the simulation process of the integrated simulation device.

[0010] Therefore, an object of the present invention is to provide a technique capable of speeding up the simulation processing of an integrated simulation device. [Means for solving the problem]

[0011] In order to solve the above problems, one representative integrated simulation device of the present invention is an integrated simulation device comprising a plurality of simulators which execute simulations and output simulation results, and a control device which controls the plurality of simulators, in which each of the plurality of simulators comprises a virtual timer which counts the period for executing a simulation for a virtual unit time, and a sub-time synchronization unit which reports the output time of the simulation results for the virtual unit time to the control device, and the control device comprises a main time synchronization unit which sets the count start actual time and count period of the virtual timers of each of the plurality of simulators to be the same, an interaction planning unit which adjusts the output time reported by each of the plurality of simulators, and an interaction time indication unit which notifies each of the plurality of simulators of the adjusted output time of the interaction planning unit, and each of the plurality of simulators outputs the simulation results for the virtual unit time to the other simulators at the adjusted output time. Effect of the Invention

[0012] According to the present invention, it is possible to increase the speed of simulation processing in an integrated simulation device.

[0013] Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 illustrates an example of a configuration of an integrated simulation apparatus according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of a hardware configuration of a computer that realizes the integrated simulation apparatus according to the first embodiment. [Diagram 3] 2 is a block diagram showing an example of a configuration of a virtual time management unit according to the first embodiment. FIG. [Figure 4] 2 is a block diagram showing an example of a configuration of a master time synchronization unit according to the first embodiment. FIG. [Diagram 5] 4 is a diagram illustrating an operation of a virtual time setting unit according to the first embodiment. FIG. [Figure 6]2 is a block diagram showing an example of a configuration of a secondary time synchronization unit according to the first embodiment. FIG. [Figure 7] 2 is a block diagram showing an example of a configuration of an exchange planning unit according to the first embodiment. FIG. [Figure 8] 4 is a diagram illustrating the operation of an output time adjustment unit according to the first embodiment. FIG. [Figure 9] 4 is a time chart showing an example of an operation of the integrated simulation device of the first embodiment. [Figure 10] 13 is a diagram illustrating the operation of an output time adjustment unit according to the second embodiment. FIG. [Figure 11] 13 is a diagram illustrating the operation of an output time adjustment unit according to the third embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, the embodiments will be described with reference to the drawings. EXAMPLES

[0016] FIG. 1 is a diagram illustrating an example of a configuration of an integrated simulation apparatus according to a first embodiment.

[0017] The integrated simulation device 100 includes a control device 101 that controls the integrated simulation device 100, and a plurality of simulators 107-110 that execute simulations in their respective fields of responsibility upon receiving instructions from the control device 101. The control device 101 and the simulators 107-110 are connected to each other.

[0018] In this embodiment, an example will be described assuming an automobile driving simulator. The simulator 107 executes a simulation of the environment, such as the terrain and weather on which the vehicle travels, and the movement of other automobiles and pedestrians. The simulator 108 executes a simulation of sensors, such as a camera and a radar, that acquire the external situation. The simulator 109 executes a simulation of automatic driving control of the automobile. The simulator 110 executes a simulation of the power of the automobile's engine, brakes, steering, etc.

[0019] The control device 101 includes a communication unit 102, a master time synchronization unit 103, a virtual time management unit 104, an exchange planning unit 105, and an exchange time instruction unit 106.

[0020] The communication unit 102 exchanges data with the simulators 107-110.

[0021] The master time synchronization unit 103 synchronizes the virtual times of the simulations between the simulators 107 to 110. Details of the master time synchronization unit 103 will be described with reference to FIG.

[0022] Here, virtual time refers to the time in the simulation executed by the simulator. For example, a simulation in which a car is driven for three hours using a car driving simulator is a virtual three-hour simulation. The actual time required to execute a virtual three-hour simulation differs depending on the simulator.

[0023] The virtual time management unit 104 sets a virtual unit time that becomes a time interval for the simulation calculation of the simulators 107 to 110. The virtual time management unit 104 also instructs the simulators 107 to 110 to start and end the simulation. The virtual time management unit 104 will be described in detail with reference to FIG.

[0024] Here, the virtual unit time is the virtual time of one simulation at which each of the simulators 107 to 110 outputs the simulation result. For example, when the virtual unit time is virtual 1 msec, the simulators 107 to 110 output the simulation result every time they execute a simulation for virtual 1 msec. The simulation results output from the simulators 107 to 110 are received by the other simulators and the control device 101.

[0025] The exchange planning unit 105 adjusts the output times at which the simulators 107-110 output the simulation results to the other simulators. If the output times of the simulation results of the simulators 107-110 overlap, a simulator will have to wait for the other simulators to finish outputting their simulation results before outputting their simulation results, which increases the processing time. By adjusting the output times with the exchange planning unit 105, data can be exchanged smoothly. Details of the exchange planning unit 105 will be described with reference to FIG. 7.

[0026] The exchange time instruction unit 106 notifies the simulators 107 to 110 of the adjusted output times of the simulation results of the simulators 107 to 110 in accordance with the output times adjusted by the exchange planning unit 105.

[0027] The simulator 107 includes a simulation calculation unit 111, a secondary time synchronization unit 112, and a communication unit 113. Although not shown in the figure, the simulators 108 to 110 also have the same configuration.

[0028] The simulation calculation unit 111 executes calculations for the simulation that the simulator is responsible for. For example, the simulation calculation unit 111 of the simulator 107 executes simulations of the driving of other vehicles on a driving map, the movement of pedestrians, control of traffic lights, etc., by digital calculations using a computer. Similarly, the simulation calculation units 111 of the simulators 108 to 110 also execute digital calculations for the simulations that they are responsible for.

[0029] In response to instructions from the control device 101, the sub-time synchronization unit 112 notifies the control device 101 of the actual processing time required to execute a simulation of the virtual unit time and the output time of the simulation result. In addition, in response to instructions from the control device 101, the sub-time synchronization unit 112 sets, starts, and stops a virtual timer, which will be described later, and also starts and stops simulation calculations. Details of the sub-time synchronization unit 112 will be described with reference to FIG. 6.

[0030] The communication unit 113 exchanges data with the control device 101 and the other simulators 108-110.

[0031] The integrated simulation apparatus 100 in FIG. 1 is realized by executing a program on a computer as shown in FIG.

[0032] FIG. 2 is a block diagram illustrating an example of a hardware configuration of a computer that realizes the integrated simulation apparatus according to the first embodiment.

[0033] A computer 200 for implementing the integrated simulation device includes a CPU (Central Processing Unit) 201 , a memory 202 , a storage device 203 , a communication I / F 204 , an input device 205 , and a display device 206 , all of which are interconnected via a bus 207 .

[0034] The CPU 201 is a central processing unit, and implements necessary functions by executing programs stored in the memory 202 (or the storage device 203).

[0035] The memory 202 is a main storage device used when the CPU 201 executes processes, and is composed of a volatile storage element such as a RAM (Random Access Memory).

[0036] The storage device 203 is an auxiliary storage device for storing input data provided to the CPU 201 and output data output from the CPU 201, and is configured with a non-volatile storage element such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0037] The communication I / F 204 is an interface used by the computer 200 to communicate with an external device, and is configured with a network interface card (NIC) etc. The communication unit 204 is connected to a network (e.g., the Internet) and communicates with the external device via the network.

[0038] The input device 205 is an interface that includes a keyboard, a touch panel, a card reader, a voice input device, or the like, and accepts input from a user.

[0039] The display device 206 is an interface that presents information to a user by displaying the output data on a screen. The simulation results output from the simulators 107 to 110 to the control device 101 are displayed on the display device 206.

[0040] The bus 207 is an internal communication path of the computer 200 .

[0041] In this embodiment, the communication unit 102, main time synchronization unit 103, virtual time management unit 104, exchange planning unit 105, exchange time indication unit 106, simulation calculation unit 111, secondary time synchronization unit 112, and communication unit 113 shown in Figure 1 implement the necessary functions by having a CPU 201 execute a program stored in memory 202 (or storage device 203) in one or more computers 200 having a hardware configuration such as that illustrated in Figure 2.

[0042] The control device 101 and the multiple simulators 107 to 110 may each be implemented in an independent computer.

[0043] FIG. 3 is a block diagram illustrating an example of the configuration of the virtual time management unit 104 according to the first embodiment.

[0044] The virtual time management unit 104 includes a simulator selection unit 1041 , a simulation time setting unit 1042 , and a virtual unit time setting unit 1043 .

[0045] The simulator selection unit 1041 accepts a selection of a simulator to be operated from among the simulators 107 to 110, which is input by the user via the input device 205. The integrated simulation device 100 may execute a simulation by interlocking all of the simulators 107 to 110, or may execute a simulation by only one of the simulators 107 to 110. In this embodiment, an example in which a simulation is executed by interlocking all of the simulators 107 to 110 will be described.

[0046] The simulation time setting unit 1042 accepts the setting of the simulation execution time input by the user via the input device 205. For example, if a virtual simulation for three days is to be executed, the simulation execution time is set to 72 hours. The actual time required to execute a virtual 72-hour simulation may be shorter or longer than 72 hours depending on the contents of the simulation calculation.

[0047] The virtual unit time setting unit 1043 accepts the setting of the virtual unit time input by the user via the input device 205. The simulator outputs the simulation result every time a simulation for the set virtual unit time is executed. The shorter the virtual unit time is, the higher the calculation accuracy of the simulation is, but the longer the processing time is. For example, if it is desired to improve the calculation accuracy of the simulation, the virtual unit time is set to 1 μsec, and if it is desired to shorten the processing time, the virtual unit time is set to 1 second.

[0048] FIG. 4 is a block diagram illustrating an example of the configuration of the master time synchronization unit 103 according to the first embodiment.

[0049] The master time synchronization unit 103 includes a processing time acquisition unit 1031 , a virtual time setting unit 1032 , a real start time setting unit 1033 , a virtual timer setting unit 1034 , a virtual timer 1035 , and a real timer 1036 .

[0050] The real timer 1036 outputs the actual time.

[0051] The virtual timer 1035 counts the period during which each of the simulators 107 to 110 executes a simulation of a virtual unit time in synchronization with a virtual timer 1124 (described later with reference to FIG. 6) of each of the simulators 107 to 110.

[0052] The processing time acquisition unit 1031 acquires from each simulator the actual processing time required to execute a simulation for a virtual unit time. For example, when the virtual unit time setting unit 1043 sets the virtual unit time to 1 ms, the processing time acquisition unit 1031 requests the simulators 107 to 110 to report the actual processing time of the virtual 1 ms simulation. The simulators 107 to 110 execute a simulation for a virtual 1 ms and report the actual time required to the control device 101 as the actual processing time.

[0053] The virtual time setting unit 1032 defines a virtual unit time, which is an execution unit of the simulation, from the actual processing time of the simulation for the virtual unit time of each simulator 107 to 110 acquired by the processing time acquisition unit 1031, and sets the count period of the virtual unit time of the virtual timers 1035 and 1124.

[0054] The operation of the virtual time setting unit 1032 will be described with reference to FIG.

[0055] In FIG. 5, the actual processing times for the simulation of 1 meter of virtual data reported by the simulators 107 to 110 are, for example, 0.3 seconds for the simulator 107, 0.5 seconds for the simulator 108, 10 μsec for the simulator 109, and 80 ms for the simulator 110.

[0056] Here, since the actual processing time of simulator 108 is the longest real time of 0.5 seconds, each of simulators 107 to 110 starts a simulation at the same time, and when 0.5 seconds of real time has elapsed, all simulators 107 to 110 can finish a simulation for 1 msec virtual.

[0057] Therefore, the virtual time setting unit 1032 defines the virtual unit time, ie, virtual 1 ms, as 0.5 seconds in real time, and sets the count cycle of the virtual timer 1035 to 0.5 seconds in real time. In this case, for example, the simulator 109 completes a simulation for virtual 1 ms in 10 μsec in real time, but does not start the next simulation and waits until the next count of the virtual timer 1124.

[0058] 4, the actual start time setting unit 1033 sets the actual count start time of the virtual timers 1035, 1124. For example, if the current actual time is 10:28, the actual count start time is set to 10:30, which is a time ahead of the present. This allows the control device 101 and the simulators 107 to 110 to simultaneously start counting the respective virtual timers 1035, 1124 without being affected by delays due to the transmission path characteristics of the communication network 114 or the element characteristics of the communication devices.

[0059] The virtual timer setting unit 1034 starts a virtual timer 1035 based on the count period of the virtual unit time set by the virtual time setting unit 1032 and the actual count start time set by the actual start time setting unit 1033, using the actual time output by the real timer 1036 as a reference.

[0060] The communication unit 102 notifies each of the simulators 107 to 110 of the count cycle of the virtual unit time set by the virtual time setting unit 1032 and the actual count start time set by the actual start time setting unit 1033 .

[0061] As a result, the virtual timers 1035 and 1124 start counting the virtual unit time at the same actual start time and with the same count cycle.

[0062] FIG. 6 is a block diagram illustrating an example of the configuration of the secondary time synchronization unit 112 according to the first embodiment.

[0063] The secondary time synchronization unit 112 includes a processing time acquisition unit 1121 , an output time acquisition unit 1122 , a virtual timer setting unit 1123 , a virtual timer 1124 , a real timer 1125 , and a simulation execution unit 1126 .

[0064] The real timer 1125 outputs the actual time.

[0065] The virtual timer 1124 is synchronized with the virtual timer 1035 of the control device 101 and counts the period during which each of the simulators 107 to 110 executes a simulation of a virtual unit time.

[0066] The processing time acquisition unit 1121 causes the simulation calculation unit 111 to execute a simulation for a virtual unit time, and measures the actual processing time of the simulation for the virtual unit time. For example, if the virtual unit time is set to virtual 1 ms, the processing time acquisition unit 1121 causes the simulation calculation unit 111 to execute a simulation calculation for the virtual 1 ms. As a result, if it takes 0.3 seconds of real time to execute the simulation for the virtual 1 ms, the processing time acquisition unit 1121 saves the real time of 0.3 seconds as the actual processing time, and reports it in response to a request from the master time synchronization unit 103.

[0067] The output time acquisition unit 1122 causes the simulation calculation unit 111 to execute a simulation for a virtual unit time, and measures the output time of the simulation result. For example, when the virtual unit time is set to virtual 1 msec, the simulation calculation unit 111 executes a simulation calculation for virtual 1 msec, and outputs the simulation result. As a result, when the output time of the simulation result is virtual 800 μsec, the output time is saved as virtual 800 μsec, and is reported in response to a request from the main time synchronization unit 103. Here, the output time represents the virtual time that has elapsed after the virtual timer 1124 counts the virtual unit time.

[0068] The virtual timer setting unit 1123 starts the virtual timer 1124 based on the count period of the virtual unit time set by the virtual time setting unit 1032 and the actual count start time set by the actual start time setting unit 1033, using the actual time output by the real timer 1125 as a reference.

[0069] The simulation execution unit 1126 instructs the simulation calculation unit 111 to start a simulation based on the virtual timer 1124 .

[0070] FIG. 7 is a block diagram illustrating an example of the configuration of the exchange planning unit 105 according to the first embodiment.

[0071] The exchange planning unit 105 includes an output time acquisition unit 1051 , an output time adjustment unit 1052 , and an output time table 1053 .

[0072] The output time acquisition unit 1051 acquires the output times of the simulation results for the virtual unit time reported by the output time acquisition units 1122 of the simulators 107 to 110. The simulators 107 to 110 execute different simulation calculations, and therefore output times of the simulation results for the virtual unit time are different.

[0073] The output time adjustment unit 1052 adjusts the output time of each of the simulators 107-110 acquired by the output time acquisition unit 1051. When the output times of the simulators 107-110 are the same or close to each other, the output time adjustment unit 1052 delays the output time of one of the simulators so that the output times do not overlap each other.

[0074] The operation of the output time adjusting unit 1052 will be described with reference to FIG.

[0075] In FIG. 8, when the virtual unit time is set to virtual 1 ms, the output times reported by the simulators 107 to 110 are, for example, virtual 805 μsec for simulator 107, virtual 800 μsec for simulator 108, virtual 500 μsec for simulator 109, and virtual 120 μsec for simulator 110.

[0076] Here, the difference between the output times of the simulator 107 and the simulator 108 is only 5 μsec. virtual. If it takes 10 μsec. virtual to output the simulation results of the simulator 108, for example, the output time will overlap with the output time of the simulator 107.

[0077] Therefore, the output time adjustment unit 1052 adjusts the output time of the simulator 107 so that the output times do not overlap, by changing the output time of the simulator 107 to, for example, a virtual 900 μsec.

[0078] Returning to FIG. 7, the output time table 1053 stores the adjusted output times of the simulators 107 to 110 that are adjusted and determined by the output time adjustment unit 1052 .

[0079] The exchange time instruction unit 106 notifies all the simulators 107 to 110 of the adjusted output times of the simulators 107 to 110 that have been adjusted and determined by the output time adjustment unit 1052 .

[0080] Each of the simulators 107 to 110 outputs a simulation result at the adjusted output time of the simulator notified by the control device 101.

[0081] The operation of the integrated simulation apparatus 100 will be described with reference to FIG.

[0082] FIG. 9 is a time chart showing an example of the operation of the integrated simulation apparatus 100 according to the first embodiment.

[0083] Here, as an example, data exchange between the control device 101 and the simulators 108 and 109 will be described.

[0084] Before starting a simulation, the user sets the simulation execution time and the virtual unit time in the virtual time management unit 104 of the control device 101 through the input device 205. As an example, it is assumed here that the simulation execution time is set to virtual 1 hour and the virtual unit time is set to virtual 1 msec.

[0085] Next, the primary time synchronization unit 103 acquires the actual processing time of the virtual 1 msec of the simulation of the simulation calculation unit 111 of the simulators 108 and 109 from the secondary time synchronization unit 112 via the communication network 114 .

[0086] The master time synchronizer 103 sets the count period of the virtual unit time of the virtual timers 1035, 1124 from the actual processing time of the simulation for the virtual unit time acquired from each of the simulators 108, 109. For example, as shown in Fig. 5, when the actual processing time of the simulator 108 is the longest actual time of 0.5 seconds, the count period of the virtual timer 1035 is set to the actual time of 0.5 seconds.

[0087] Furthermore, for example, when the current actual time is 10:28, the master time synchronizer 103 sets the count start actual time of the virtual timers 1035 and 1124 to 10:30, which is ahead of the current time.

[0088] Next, the master time synchronizer 103 notifies the simulators 108 and 109 of the count cycle and the actual count start time of the virtual timer 1124 .

[0089] At this time, it is assumed that the real times output by the real timers 1036, 1125 of the control device 101 and the simulators 108, 109 are consistent. By doing so, the count cycles and the count start real times of the virtual timers 1035, 1124 of the control device 101 and the simulators 108, 109 are made consistent.

[0090] Next, the exchange planner 105 acquires the output times of the simulation results of the simulators 108 and 109 for 1 msec from the sub-time synchronizer 112 via the communication network 114 .

[0091] Next, the exchange planning unit 105 adjusts the output times of the simulators 108 and 109 .

[0092] Next, the exchange time instruction unit 106 notifies all the simulators 108 and 109 of the adjusted output times of the simulators 108 and 109 that have been adjusted and determined by the exchange planning unit 105 .

[0093] Each of the simulators 108 and 109 outputs the simulation result at the adjusted output time notified by the control device 101. This allows each of the simulators 108 and 109 to reliably receive the simulation result without waiting time.

[0094] For example, the simulator 109 receives the simulation result of the simulator 108 and executes a simulation for the next virtual unit time. In this case, by receiving data transmitted to the communication network 114 at the output time of virtual 800 μsec in the current virtual unit time, the simulator 109 can reliably receive the simulation result output by the simulator 108 without waiting.

[0095] After the simulation has started, if a change occurs in the actual processing time of the simulation for the virtual unit time of any of the simulators, the control device 101 temporarily suspends the simulation of each of the simulators 107-110.

[0096] The processing time acquisition unit 1031 of the control device 101 reacquires the actual processing time from the processing time acquisition unit 1121 of the simulators 107 to 110, and the virtual time setting unit 1032 resets the count cycle of the virtual unit time of the virtual timers 1035 and 1124.

[0097] This causes the virtual timers 1035 and 1124 to start counting at the reset count period and restart the simulation.

[0098] Furthermore, if there is a change in the output time of the simulation result of any of the simulators after the simulation has started, the control device 101 temporarily halts the simulation of each of the simulators 107-110.

[0099] The output time acquisition unit 1051 of the control device 101 reacquires the output time from the output time acquisition unit 1122 of the simulators 107 to 110, and the output time adjustment unit 1052 readjusts the output time.

[0100] As a result, each of the simulators 107 to 110 outputs a simulation result at the readjusted output time.

[0101] Furthermore, when the control device 101 and the simulators 107 to 110 are implemented in independent computers, the virtual timers 1035 and 1124 count with different original clocks such as crystal oscillators.

[0102] Therefore, if the simulation continues for a long period of time, a difference will occur between the virtual timers 1035, 1124. Therefore, when a predetermined time has elapsed since the virtual timers 1035, 1124 started counting, the actual start time setting unit 1033 resets the actual count start time, and the virtual timer setting units 1034, 1123 restart the virtual timers 1035, 1124 at the reset actual count start time. This causes the virtual timers 1035, 1124 to match each other again.

[0103] According to this embodiment, the control device 101 adjusts the output time and notifies the adjusted output time to the simulators 107-110, and the simulators 107-110 output the simulation results at the adjusted output time, so data can be exchanged between multiple simulators reliably without waiting time. Also, since the control device does not intervene when sending and receiving data between simulators, the time required for data exchange between the simulators can be shortened, and the simulation processing of the integrated simulation device can be accelerated. EXAMPLES

[0104] The configuration of the integrated simulation device of the second embodiment is similar to that of the first embodiment. In the second embodiment, the exchange planning unit 105 adjusts the output times of the simulators so that the output times are at equal intervals.

[0105] The operation of the output time adjusting unit 1052 in the second embodiment will be described with reference to FIG.

[0106] In FIG. 10, when the virtual unit time is assumed to be 1 ms, the output times reported by the simulators 107 to 110 are, for example, 605 μsec for the simulator 107, 600 μsec for the simulator 108, 300 μsec for the simulator 109, and 150 μsec for the simulator 110.

[0107] Here, the difference between the output times of the simulator 107 and the simulator 108 is only 5 μsec. virtual. If it takes 10 μsec. virtual to output the simulation results of the simulator 108, for example, the output time will overlap with the output time of the simulator 107.

[0108] Therefore, the output time adjustment unit 1052 adjusts the output times of the simulators 107 to 109 so that the output times of the simulators 107 to 110 are equally spaced. For example, the output time adjustment unit 1052 changes the output time of the simulator 107 to virtual 900 μseconds, the output time of the simulator 108 to virtual 650 μseconds, and the output time of the simulator 109 to virtual 400 μseconds. As a result, the output time adjustment unit 1052 can adjust the output times of the simulators 107 and 108 so that they do not overlap.

[0109] According to this embodiment, the output time adjustment unit 1052 of the control device 101 adjusts the output times of the simulators 107 to 110 so that the output times are at equal intervals, so that there can be sufficient intervals between the output times of the simulators 107 to 110. This allows the simulators 107 to 110 to reliably receive the simulation results without waiting time. EXAMPLES

[0110] The configuration of the integrated simulation device of the embodiment 3 is similar to that of the embodiment 1. In the embodiment 3, a simulator that receives a simulation result declares a desired receiving time of the simulation result to the control device 101, and the interaction planning unit 105 adjusts the output time based on the desired receiving time.

[0111] The operation of the output time adjusting unit 1052 in the third embodiment will be described with reference to FIG.

[0112] In FIG. 11, when the virtual unit time is assumed to be 1 ms, the output times reported by the simulators 107 to 110 are, for example, 600 μsec for the simulator 107, 500 μsec for the simulator 108, 300 μsec for the simulator 109, and 100 μsec for the simulator 110.

[0113] The output time acquisition unit 1122 of the simulator 108 notifies the control device 101 of, for example, virtual 900 μsec as the desired time for receiving the simulation result of the simulator 107 .

[0114] The output time acquisition unit 1051 of the control device 101 acquires the desired reception time reported by the simulator 107 .

[0115] The output time adjustment unit 1052 changes the output time of the simulator 107 to a virtual 900 μsec based on the desired reception time acquired by the output time acquisition unit 1051. This enables the simulator 108 to receive the simulation results output by the simulator 107 at the desired reception time.

[0116] According to this embodiment, the output time adjustment unit 1052 of the control device 101 adjusts the output time based on the desired reception time acquired from the simulators 107 to 110, so that each simulator 107 to 110 can reliably receive the simulation results without waiting time.

[0117] The present invention is not limited to the above-mentioned embodiment, but includes various modified examples. For example, the above-mentioned embodiment has been described in detail to easily explain the present invention, and is not necessarily limited to those including all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. [Explanation of symbols]

[0118] 101: Control device 102: Communications Department 103: Master time synchronization unit 104: Virtual Time Management Department 105: Interaction Planning Department 106: Communication time indication section 107~110: Simulator 111: Simulation calculation section 112: Sub-time synchronization section 113: Communications Department 114: Communication Networks 1031: Processing time acquisition unit 1032: Virtual time setting section 1033: Start actual time setting section 1034: Virtual timer setting section 1035: Virtual timer 1036: Real timer 1041: Simulator selection section 1042: Simulation time setting section 1043: Virtual unit time setting section 1051: Output time acquisition section 1052: Output time adjustment section 1053: Output time table 1121: Processing time acquisition unit 1122: Output time acquisition section 1123: Virtual timer setting section 1124: Virtual timer 1125: Real timer 1126: Simulation execution unit

Claims

1. 1. An integrated simulation device comprising: a plurality of simulators each for executing a simulation and outputting a simulation result; and a control device for controlling the plurality of simulators, Each of the plurality of simulators includes: a virtual timer that counts a period for executing the simulation for a virtual unit time; a sub-time synchronization unit that notifies the control device of an output time of the simulation result for the virtual unit time, The control device includes: a master time synchronization unit that sets a count start real time and a count period of the virtual timer of each of the plurality of simulators to be the same; an exchange planning unit that adjusts the output times declared by each of the plurality of simulators; an exchange time instructing unit that notifies each of the plurality of simulators of an adjusted output time of the exchange planning unit; an integrated simulation device in which each of the plurality of simulators outputs a simulation result for the virtual unit time to the other simulators at the adjusted output time.

2. 2. The integrated simulation device according to claim 1, The secondary time synchronization unit included in each of the plurality of simulators an actual processing time of the simulation for the virtual unit time is reported to the control device; The master time synchronization unit an integrated simulation device that sets a count cycle of the virtual timer based on an actual processing time reported by each of the plurality of simulators;

3. 3. The integrated simulation device according to claim 2, The interaction planning unit is an integrated simulation device that adjusts the output times declared by the plurality of simulators so that the output times do not overlap.

4. 3. The integrated simulation device according to claim 2, The interaction planning unit is an integrated simulation device that adjusts the output times declared by each of the plurality of simulators so that the output times are spaced equally apart.

5. 3. The integrated simulation device according to claim 2, the secondary time synchronization unit included in each of the plurality of simulators notifies the control device of a desired reception time of the simulation results output by the other simulators; The interaction planning unit is an integrated simulation device that adjusts the output time declared by each of the plurality of simulators based on the desired reception time.

6. A method for controlling an integrated simulation apparatus including a plurality of simulators that execute simulations and output simulation results, and a control device that controls the plurality of simulators, comprising the steps of: Each of the plurality of simulators includes: Counting a period for executing the simulation for a virtual unit time using a virtual timer; notifying the control device of an output time of the simulation result for the virtual unit time; The control device includes: setting the count start real time and the count period of the virtual timer of each of the plurality of simulators to be the same; Adjusting the output time declared by each of the plurality of simulators; notifying each of the plurality of simulators of the adjusted output time; a control method in which each of the plurality of simulators outputs a simulation result for the virtual unit time to the other simulators at the adjusted output time.

7. 7. The control method according to claim 6, Each of the plurality of simulators an actual processing time of the simulation for the virtual unit time is reported to the control device; In the control device, A control method for setting a count period of the virtual timer based on an actual processing time reported by each of the plurality of simulators.

8. 8. The control method according to claim 7, The control device adjusts the output times so that the output times declared by the plurality of simulators do not overlap.

9. 8. The control method according to claim 7, The control device adjusts the output times declared by the plurality of simulators so that the output times are equally spaced.

10. 8. The control method according to claim 7, each of the plurality of simulators notifying the control device of a desired time for receiving the simulation results output by the other simulators; The control method includes: adjusting the output time declared by each of the plurality of simulators based on the desired reception time.

11. An integrated simulation system including a plurality of simulators that execute simulations and output simulation results, and a control device that controls the plurality of simulators, Each of the plurality of simulators includes: a virtual timer that counts a period for executing the simulation for a virtual unit time; a sub-time synchronization unit that notifies the control device of an output time of the simulation result for the virtual unit time, The control device includes: a master time synchronization unit that sets a count start real time and a count period of the virtual timer of each of the plurality of simulators to be the same; an exchange planning unit that adjusts the output times declared by each of the plurality of simulators; an exchange time instructing unit that notifies each of the plurality of simulators of an adjusted output time of the exchange planning unit; an integrated simulation system in which each of the plurality of simulators outputs a simulation result for the virtual unit time to the other simulators at the adjusted output time.

12. The integrated simulation system according to claim 11, The secondary time synchronization unit included in each of the plurality of simulators an actual processing time of the simulation for the virtual unit time is reported to the control device; The master time synchronization unit an integrated simulation system that sets a count cycle of the virtual timer based on an actual processing time reported by each of the plurality of simulators;

13. 13. The integrated simulation system according to claim 12, The interaction planning unit adjusts the output times so that the output times declared by each of the plurality of simulators do not overlap.

14. 13. The integrated simulation system according to claim 12, The interaction planning unit adjusts the output times declared by each of the plurality of simulators so that the output times are equally spaced.

15. 13. The integrated simulation system according to claim 12, the secondary time synchronization unit included in each of the plurality of simulators notifies the control device of a desired reception time of the simulation results output by the other simulators; The integrated simulation system includes a communication planning unit that adjusts the output time declared by each of the plurality of simulators based on the desired reception time.

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