Visualization simulation system and visualization simulation method

Abstract

To provide a visualization simulation system and a visualization simulation method with which, while reducing the computation load of simulation, it is possible to obtain good simulation results and display the simulation results in an easily understandable manner.SOLUTION: A visualization simulation system 10 performs control computation using a control model executed by an integration software program, according to commands of a visualization simulation program, on the basis of motion model computation results and game engine computation results. The visualization simulation system 10 performs motion model computation using a motion model on the basis of the game engine computation results and control computation results. The visualization simulation system 10 performs game engine computation using three-dimensional shape data, a game engine and operation environment data, on the basis of motion model computation results. The visualization simulation system 10 generates a three-dimensional animation image as the game engine computation result using the game engine and displays it on a display unit 16.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a visualization simulation system and a visualization simulation method, and more particularly to a visualization simulation system and a visualization simulation method used for model-based development (MBD) and the like. [Background technology]

[0002] As an example of this type of prior art, Patent Document 1 discloses a vehicle running virtual testing system. In this vehicle running virtual testing system, a plurality of parts, which are set independently for each predetermined function as elements constituting a vehicle, are modeled by a system equation constituting an internal matrix corresponding to the potential amount and the flow amount, in which two types of state amounts constituting the instantaneous value of energy applied to each part are treated as a pair of input / output state amounts, and parameters of internal characteristics of the parts to which the input / output state amounts are applied are arranged in a matrix format in which the rows are output state vectors and the columns are input state vectors, and the modeled models are connected via the input / output state amounts to construct a vehicle model and execute a virtual test of the vehicle model. Then, the virtual test results can be displayed on a monitor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-224290 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the vehicle running virtual testing system disclosed in Patent Document 1, sufficient consideration has not been given to obtaining good virtual test results while reducing the computational load of the virtual test, or to displaying the virtual test results in an easy-to-understand manner.

[0005] Therefore, a main object of the present invention is to provide a visualization simulation system and a visualization simulation method that can obtain good simulation results while reducing the computational load of the simulation and can display the simulation results in an easily understandable manner. [Means for solving the problem]

[0006] In order to achieve the above object, a visualization simulation system for simulating the behavior of a control object includes a storage unit that stores 3D shape data of the control object, a motion model of the control object, a control model or a control program of a control device that controls the control object, a game engine, a visualization simulation program, an association software program for executing the control model, and driving environment data, a first calculation unit that performs control calculations using the control model or the control program executed by the association software program, a second calculation unit that performs motion model calculations using the motion model, a third calculation unit that performs game engine calculations using the 3D shape data, the game engine, and the driving environment data, and a visualization simulation program. a fourth calculation unit that generates a 3D animation image of the game engine calculation result by the third calculation unit using a game engine in response to a command from a visualization simulation program, and a display unit that displays the 3D animation image, wherein the first calculation unit performs a control calculation based on the motion model calculation result by the second calculation unit in response to a command from the visualization simulation program, the second calculation unit performs a motion model calculation based on the control calculation result by the first calculation unit and the game engine calculation result by the third calculation unit in response to a command from the visualization simulation program, and the third calculation unit performs a game engine calculation based on the motion model calculation result by the second calculation unit in response to a command from the visualization simulation program.

[0007] Also provided is a visualization simulation method for simulating the behavior of a controlled object using 3D shape data of a controlled object, a motion model of the controlled object, a control model or control program of a control device that controls the controlled object, a game engine, a visualization simulation program, an associated software program for executing the control model, and driving environment data, the visualization simulation method comprising: a first step of performing a control calculation using the control model or control program executed by the associated software program; a second step of performing a motion model calculation using the motion model; a third step of performing a game engine calculation using the 3D shape data, the game engine, and the driving environment data; a fourth step of generating a 3D animation image of the game engine calculation result by the third step using the game engine in response to a command from the visualization simulation program; and a fifth step of displaying the 3D animation image on a display unit, wherein the first step performs a control calculation based on the motion model calculation result by the second step in response to a command from the visualization simulation program; the second step performs a motion model calculation based on the control calculation result by the first step and the game engine calculation result by the third step in response to a command from the visualization simulation program; and the third step performs a game engine calculation based on the motion model calculation result by the second step in response to a command from the visualization simulation program.

[0008] In the above-mentioned invention, a control calculation is performed using a control model or a control program executed by a linked software program based on the motion model calculation result, a motion model calculation is performed using a motion model based on the game engine calculation result and the control calculation result, and a game engine calculation is performed using 3D shape data, a game engine, and driving environment data based on the motion model calculation result. Then, a 3D animation image of the game engine calculation result, that is, a 3D animation image showing a simulation result of the behavior of the controlled object, is generated using the game engine, and is displayed on the display unit. In this way, by using the game engine to perform calculation while reflecting disturbances in the driving environment, calculations with a high calculation load can be lightened. In addition, by reflecting the game engine calculation result in the motion model calculation, an accurate motion model calculation result can be obtained, and by reflecting the motion model calculation result in the game engine calculation, a good simulation result can be obtained. Furthermore, by using the game engine, a 3D animation image of the simulation result can be easily generated, and the 3D animation image can be displayed on the display unit. Therefore, the simulation result becomes easy to understand without expressing the simulation result as a graph or a data group.

[0009] Preferably, the first calculation unit further performs the control calculation based on the game engine calculation result by the third calculation unit. In this case, the control calculation can be performed with higher accuracy by reflecting the sensing information that can be acquired by utilizing the game engine calculation result in the control calculation.

[0010] In addition, preferably, the visualization simulation program includes a program for displaying a user interface on the display unit, and the visualization simulation system further includes an input unit for operating the user interface displayed on the display unit. In this case, the settings required for the simulation can be made without coding, making data input and instructions easy, and the simulation can be used regardless of the user's software technical skills.

[0011] Further, preferably, the driving environment data includes 3D topographical data and disturbance data linked to the 3D topographical data. In this case, the driving environment can be set to a more realistic situation, and the accuracy of the simulation result can be improved.

[0012] Here, the "control calculation result" refers to a control command to a motion model calculated by a control model or a control program based on the sensing result of the motion state, etc., so that the motion model behaves as intended. For example, when the vehicle speed does not reach the target speed, a command to increase the throttle opening of the engine is included.

[0013] "Game engine calculation results" refers to the results of simulations of how the controlled object is affected by changes in the outside world (environment) as a result of physical motion. This calculation, for example, uses disturbances such as wind force and road conditions that change depending on the environment as parameters, and obtains sensing information such as the reaction force (frictional force of tires) that the tires receive from the road surface, tire slippage, impact force on the vehicle body, vehicle vibration, and GPS coordinate data.

[0014] The "motion model calculation result" refers to the simulation result obtained by calculating the energy transfer inside the controlled object and the behavior of the controlled object based on the control command. This calculation provides sensing information such as engine speed, engine torque, and vehicle speed. Effect of the Invention

[0015] According to the present invention, good simulation results can be obtained while reducing the computational load of the simulation, and the simulation results can be displayed in an easily understandable manner. [Brief description of the drawings]

[0016] [Figure 1] 1 is a block diagram showing a visualization simulation system according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a block diagram showing main operations of the visualization simulation system. [Diagram 3] 1 is a flowchart showing a main operation of a visualization simulation system according to an embodiment of the present invention. [Figure 4] FIG. 11 is a flow diagram showing an example of a simulation setting operation. [Diagram 5] FIG. 11 is a flow diagram showing an example of a simulation environment selection operation. [Figure 6] FIG. 11 is a flow diagram showing an example of a simulation implementation operation. [Figure 7] FIG. 13 is an illustrative view for explaining a selection and import operation of 3D shape data using a user interface. [Figure 8] FIG. 13 is an illustrative view showing one example of a window opened when setting a simulation; [Figure 9] FIG. 13 is an illustrative view for explaining a setting operation for a game engine using a user interface. [Figure 10] FIG. 13 is an illustrative view showing one example of a screen displayed at the time of setting for a game engine; [Figure 11] FIG. 13 is an illustrative view for explaining the operation of selecting and importing an exercise model using a user interface. [Figure 12] FIG. 13 is an illustrative view for explaining the operation of selecting and importing a communication setting file using a user interface. [Figure 13] 13 is an illustrative view for explaining a link setting and a simulation setting output operation using a user interface; FIG. [Figure 14] FIG. 13 is an illustrative view showing one example of a window opened when setting a simulation; [Figure 15] FIG. 13 is an illustrative view showing an example of a simulation execution screen; [Figure 16] FIG. 13 is a block diagram showing a visualization simulation system according to another embodiment of the present invention. [Figure 17] FIG. 13 is a block diagram showing a visualization simulation system according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0018] 1, a visualization simulation system 10 according to an embodiment of the present invention is an apparatus for MILS (Model-In-the-Loop Simulation), and includes a computer 12, an input unit 14, and a display unit 16. The computer 12 includes a motherboard 18, a GPU 20, and a storage device 22. The motherboard 18 includes a CPU 24, a memory 26, and an interface 28. The interface 28 includes an external device connection device 30 and a network connection device 32.

[0019] The storage device 22 is, for example, an HDD or SSD, and stores 3D shape data of the control object, a motion model of the control object, a control model of a control device that controls the control object, a game engine (physics engine), a visualization simulation program, an associated software program for executing the control model, and driving environment data.

[0020] In this embodiment, the controlled object is a vehicle, and more specifically, a power train system of the vehicle. The 3D shape data of the controlled object includes 3D shape data of the entire vehicle, and can be created in advance by a 3D shape model design tool such as CAD or 3D modeling software. The motion model of the controlled object is a plant model such as a 0D model or 1D model expressed by a mathematical formula, and an FMU (Functional Mockup Unit) can be used, and can also be created in advance by a motion model design tool as necessary. The control model is a controller model that expresses a control device that controls the controlled object by a mathematical formula. The associated software program is a program for creating and / or executing the control model, and in this embodiment, includes MATLAB / Simulink (registered trademark). The game engine is a development environment for developing computer games, and for example, Unity (registered trademark) is used. The driving environment data includes 3D terrain data and disturbance data linked to the 3D terrain data. For example, an existing database provided by the Geospatial Information Authority of Japan or the like is used to generate the 3D terrain data. This makes it possible to reproduce an actually existing terrain. The disturbance data includes the friction coefficient of the road surface, the wind speed, etc., and can be set arbitrarily using existing disturbance data held by the game engine. The visualization simulation program is a program for controlling the operation of the visualization simulation system 10, and includes a program for displaying a user interface on the display unit 16.

[0021] The motherboard 18 is connected to the input unit 14 and the display unit 16 via an external device connection device 30 of an interface 28. In the memory 26, the programs and data stored in the storage device 22 are loaded, and calculation data by the CPU 24 and the GPU 20 is temporarily stored. The CPU 24 performs various calculations, commands, and controls each unit based on the programs and data loaded in the memory 26. The GPU 20 receives commands from the CPU 24 and mainly performs calculation processing for drawing and game engine systems.

[0022] 2, the CPU 24 performs a control calculation using a control model executed by the linked software program based on the motion model calculation result and the game engine calculation result in response to a command from the visualization simulation program. Also, the CPU 24 performs a motion model calculation using a motion model based on the control calculation result and the game engine calculation result in response to a command from the visualization simulation program. The CPU 24 and the GPU 20 work together to perform a game engine calculation using the 3D shape data, the game engine, and the driving environment data in response to a command from the visualization simulation program, based on the motion model calculation result. Also, the CPU 24 and the GPU 20 work together to generate a 3D animation image of the game engine calculation result using the game engine in response to a command from the visualization simulation program. The generated 3D animation image is displayed on the display unit 16.

[0023] Returning to FIG. 1, the input unit 14 includes a keyboard and a mouse, and is used, for example, to operate a user interface displayed on the display unit 16 to make settings required for the simulation.

[0024] In this embodiment, the CPU 24 corresponds to the first and second calculation units. The CPU 24 and the GPU 20 correspond to the third calculation unit. The CPU 24 and the GPU 20 correspond to the fourth calculation unit. The storage device 22 corresponds to the storage unit.

[0025] Next, the operation of the visualization simulation system 10 will be described.

[0026] An overview of the operation of the visualization simulation system 10 will be described with reference to FIG.

[0027] First, it is determined whether or not a simulation has been set (step S1). If a simulation has not been set, the simulation is set (step S3) and the process proceeds to step S5. If a simulation has been set in step S1, the process proceeds to step S5. In step S5, a simulation environment is selected. Then, a simulation is performed (step S7) and it is determined whether or not the test has been completed (step S9). If the test has not been completed, the process returns to step S7, whereas if the test has been completed, the process ends.

[0028] Next, the simulation setting operation in step S3 will be described with reference to Fig. 4. This simulation setting is performed by displaying a user interface on the display unit 16 by a visualization simulation program and operating the user interface with the input unit 14.

[0029] First, 3D shape data of the control object is selected and imported (step S11). In this embodiment, a vehicle is selected as the control object, and 3D shape data of the entire vehicle is selected and imported. Next, settings for using a game engine are made (step S13). Here, settings related to contact determination, bone structure for motion analysis, calculation by gravity, and geometric constraints are made for each vehicle part as necessary. Next, a 0D model or 1D model is selected and imported as a motion model (step S15). Then, a communication setting file is selected and imported (step S17). Here, settings for executing the control model by the linked software program MATLAB / Simulink are made.

[0030] Thereafter, a link is set between the game engine and the motion model (step S19), a link is set between communication and the motion model (step S21), and a link is set between communication and the game engine (step S23). These link settings enable control calculation based on the motion model calculation result and the game engine calculation result, motion model calculation based on the game engine calculation result and the control calculation result, and game engine calculation based on the motion model calculation result. Then, the simulation settings including the selection of 3D shape data, the game engine settings, the selection of the motion model, the selection of the communication setting file, and the link settings are output to and stored in the storage device 22 (step S25), and the process returns.

[0031] Now, the simulation setting operation will be described more specifically with reference to FIG. 7 to FIG.

[0032] First, the 3D shape is selected and imported.

[0033] When "Select model" indicated by arrow A is clicked on the input unit 14 in the user interface displayed on the display unit 16 as shown in FIG. 7, a new window as shown in FIG. 8 is opened, and 3D data is selected from this screen. In this embodiment, vehicle 3D data is selected. Then, the vehicle 3D data is imported, and a 3D image of the vehicle is displayed on the screen approximately in the center of the user interface. At this time, the hierarchical structure of the 3D data is displayed in list form on the left side of the screen indicated by arrow B. The hierarchical structure of the 3D data can be changed by operating the input unit 14.

[0034] Next, settings are made for the game engine.

[0035] Referring to FIG. 9, a portion of the 3D data (part or assembly) for which game engine settings are to be performed is clicked on the 3D display screen, or selected from the list on the left side of the screen indicated by arrow B. The selected part or assembly is highlighted. Next, when "Add Component" indicated by arrow C is clicked with the part selected, a screen as shown in FIG. 10 is displayed, and game engine settings for the part are selected. For example, when a Rigidbody is added, it is calculated so that it is affected by contact with objects and gravity, and when a WheelCollider and WheelController are added, the game engine recognizes the part as a tire. Furthermore, detailed settings are made for the added game engine settings using the portion indicated by arrow D. For example, tire characteristics are set, and whether or not to perform contact detection is set.

[0036] Next, the motion model is selected and imported.

[0037] Referring to Fig. 11, when "Select FMU" indicated by arrow E is clicked, a window such as that shown in Fig. 8 is opened, and a motion model is selected from this screen. In this embodiment, a vehicle motion model is selected. Then, the vehicle motion model is imported, and the name of the imported file is displayed in the upper left of the screen as indicated by arrow F. Furthermore, when the import is complete, the data names of the input and output of the motion model are displayed in a drop-down list for setting communication as indicated by arrow G.

[0038] Then, the communication setting file is selected and imported.

[0039] 12, at the location indicated by arrow H, the type of communication, such as UDP, TCP, or CAN communication, is set, and addresses of the game engine and the associated software program are set.

[0040] Next, the link is set up.

[0041] Referring to Figure 13, when "Select" indicated by arrow I is clicked, a window like that shown in Figure 8 is displayed, and the file that defines the structure of the communications data (communications setting file) is selected from this screen. When the communications setting file is imported, the data structures of the sending and receiving sides are displayed in the area indicated by arrow J.

[0042] Then, from the drop-down list of displayed data, on the transmitting side, linking is performed of the data to be transmitted from the motion model and the calculation results of the game engine. That is, linking is performed of the data to be transmitted from the motion model to the control model, and linking is performed of the data to be transmitted from the game engine to the control model. Also, on the receiving side, linking is performed of the data to be used as input for the motion model. That is, linking is performed of the data to be transmitted from the control model to the motion model. These processes correspond to linking the communication with the motion model, and linking the communication with the game engine.

[0043] Here, when linking data from the control model to the motion model using the user interface, time synchronization between the control calculation and the motion model calculation can be set.

[0044] After that, the data linking between the motion model and the game engine, that is, link setting, is performed on the left side of the screen indicated by the arrow K. This setting is performed by selecting from a drop-down list, similar to the setting of the link between the communication and the motion model and the setting of the link between the communication and the game engine.

[0045] When all of the above settings have been completed, clicking on "Create model" indicated by arrow L will display a screen such as that shown in FIG. 14. Once the save destination and save name have been determined and the Save button is pressed, the simulation settings will be output to and saved in the storage device 22.

[0046] Next, the operation of selecting an environment for the simulation in step S5 will be described with reference to Fig. 5. This environment selection is performed, for example, by displaying an existing user interface of Unity on the display unit 16 and operating the user interface with the input unit 14.

[0047] First, it is determined whether or not to use the set driving environment data (step S31). If the set driving environment data is not used, 3D topographical data is acquired from an external database provided by, for example, the Geospatial Information Authority of Japan (step S33), the 3D topography is colored (step S35), and obstacles such as trees, rocks, oncoming vehicles, and buildings are set (step S37). Furthermore, disturbance data is set as a parameter required for physical calculation (step S39), and set driving environment data in which the disturbance data is linked to the 3D topographical data is generated (step S41), and the process returns to step S31. In step S31, if the set driving environment data is used, desired driving environment data is selected from the set driving environment data and stored in the storage device 22 (step S43), and the process returns.

[0048] Next, the simulation execution operation in step S7 will be described with reference to Fig. 6. This simulation is executed by displaying a simulation execution screen (see Fig. 15) on the display unit 16.

[0049] First, the start icon 34 in the simulation execution screen displayed on the display unit 16 is clicked by the input unit 14. Then, the simulation is started, the driving environment data is read and expanded in the memory 26 (step S51), and the simulation settings are read and expanded in the memory 26 (step S53). Next, a communication port is opened (step S55), and the simulation is initialized (step S57). That is, initialization calculations are performed for the control model, the motion model, and the game engine.

[0050] Then, a control calculation is performed (step S59), a motion model is calculated (step S61), a game engine is calculated (step S63), the calculations are reflected in animation drawing (step S65), sensing information such as engine speed, engine torque, and tire friction force is transmitted (step S67), and it is determined whether the simulation has ended (step S69). If the simulation has not ended, the process returns to step S59 and the process is repeated.

[0051] That is, referring to Fig. 2, the control model, the motion model, and the game engine are initialized using the designated values. Then, the control model performs a control calculation using the initial values ​​of the motion model and the game engine as sensing information, the motion model calculation using the motion model and the initial values ​​of the game engine, the game engine calculation using the motion model calculation result, and the game engine calculation result is reflected in the animation drawing. Next, the control model performs a control calculation using the motion model calculation result and the game engine calculation result as sensing information, the motion model calculation using the motion model and the game engine calculation result, the game engine calculation using the motion model calculation result, and the game engine calculation result is reflected in the 3D animation drawing. Such processing is repeated by command of the visualization simulation program until the simulation is completed.

[0052] Returning to FIG. 6, when the end icon 36 in the simulation execution screen displayed on the display unit 16 is clicked by the input unit 14, the simulation ends, the communication port is closed (step S71), and the process returns.

[0053] The 3D animation image of the game engine calculation result, i.e., the 3D animation image showing the simulation result of the behavior of the controlled object, is generated using the game engine. In this embodiment, the 3D animation image is generated using a program that controls the "camera function" of Unity, and the 3D animation drawing as shown in FIG. 15 is displayed on the display unit 16.

[0054] According to such a visualization simulation system 10, a control calculation is performed using a control model executed by a linked software program based on the motion model calculation result and the game engine calculation result, a motion model calculation is performed using a motion model based on the game engine calculation result and the control calculation result, and a game engine calculation is performed using 3D shape data, a game engine, and driving environment data based on the motion model calculation result. Then, a 3D animation image of the game engine calculation result, that is, a 3D animation image showing a simulation result of the behavior of the controlled object, is generated using the game engine, and is displayed on the display unit 16. In this way, by using the game engine to perform calculation while reflecting disturbances in the driving environment, calculations with a high calculation load can be reduced. In addition, by reflecting the game engine calculation result in the motion model calculation, a motion model calculation result can be obtained with high accuracy, and by reflecting the motion model calculation result in the game engine calculation, a good simulation result can be obtained. Furthermore, by using the game engine, a 3D animation image of the simulation result can be easily generated, and the 3D animation image can be displayed on the display unit 16. Therefore, the simulation result becomes easy to understand without expressing the simulation result as a graph or a data group. In addition, the simulation results can be rendered as a 3D animation image of the entire controlled object, making the simulation results even easier to understand.

[0055] By reflecting sensing information that can be acquired by utilizing the game engine calculation results in the control calculation, it is possible to perform the control calculation with even greater accuracy.

[0056] Settings required for simulation, such as selection of 3D shape data and motion models, settings for the game engine, selection of communication setting files, and link settings, can be done with simple UI operations (clicking with the mouse or entering numbers from the keyboard) without coding. This makes data entry and instructions easy, and allows users to use the simulation regardless of their software technical skills. In addition, the setting results can be output as a file for reuse.

[0057] The driving environment data includes 3D terrain data and disturbance data linked to the 3D terrain data, so the driving environment can be set to a more realistic situation. For example, obstacles and buildings can be set arbitrarily, so the motion in the event of a collision or climbing over can also be calculated. This improves the accuracy of the simulation results. In addition, such driving environment data can be reused by outputting it as a file.

[0058] As a result, users can easily perform real-time motion simulations on terrains they have prepared for mobility vehicles equipped with new structures or new ideas. In addition, by displaying the results as animations, the merits and demerits of the development results of the development target can be checked on the desktop while correcting any misunderstandings between stakeholders.

[0059] In addition, if the visualization simulation system 10 has a logging function, it can generate and store control log data showing the control calculation results during the simulation, and motion log data of the game engine calculation results and the motion model calculation results. The motion log data includes not only data that can be measured in real life, but also data that cannot be measured in real life. By providing such log data as analysis input data to a 3DCAE tool separately prepared for analyzing structure, heat, stress, etc., it is possible to obtain good 3D simulation results.

[0060] In addition, by executing the saved log data, 3D animation images of the simulation results can be checked at any time.

[0061] Next, a visualization simulation system 10a according to another embodiment of the present invention will be described with reference to FIG.

[0062] The visualization simulation system 10a is an apparatus for MILS, includes computers 12a and 12b, an input unit 14, and a display unit 16, and is configured so that distributed processing is performed by the computers 12a and 12b.

[0063] Each of the computers 12a and 12b is configured in the same manner as the computer 12 of the visualization simulation system 10 shown in Fig. 1. Therefore, the components of the computer 12a are omitted from the description by adding "a" to the end of the reference numerals of the components of the computer 12. The components of the computer 12b are omitted from the description by adding "b" to the end of the reference numerals of the components of the computer 12.

[0064] The motherboard 18a of the computer 12a is connected to the input unit 14 and the display unit 16 via an external device connection device 30a of the interface 28a. The computers 12a and 12b are connected to each other via their respective network connection devices 32a and 32b using Wi-fi, LAN, or the like.

[0065] The storage device 22a of the computer 12a stores 3D shape data of the controlled object, a motion model of the controlled object, a game engine, a visualization simulation program, and driving environment data. The storage device 22b of the computer 12b stores a control model of a control device that controls the controlled object, and an associated software program for executing the control model.

[0066] In this embodiment, the computer 12a performs motion model calculations, game engine calculations, and generation of 3D animation images, while the computer 12b performs control calculations.

[0067] That is, the CPU 24a of the computer 12a performs a motion model calculation using a motion model based on the control calculation result and the game engine calculation result in response to a command from the visualization simulation program. The CPU 24a and the GPU 20a cooperate to perform a game engine calculation using 3D shape data, a game engine, and driving environment data in response to a command from the visualization simulation program in response to a command from the visualization simulation program. The CPU 24a and the GPU 20a also cooperate to generate a 3D animation image of the game engine calculation result in response to a command from the visualization simulation program in response to a command from the game engine. Meanwhile, the CPU 24b of the computer 12b performs a control calculation using a control model executed by the linked software program in response to a command from the visualization simulation program in response to a command from the motion model calculation result and the game engine calculation result.

[0068] In this way, in the visualization simulation system 10a, distributed processing is performed, and the control calculations that were performed by the CPU 24 of the computer 12 in the visualization simulation system 10 according to the previous embodiment are processed by the CPU 24b of the computer 12b.

[0069] In this embodiment, the CPU 24b corresponds to a first calculation unit. The CPU 24a corresponds to a second calculation unit. The CPU 24a and the GPU 20a correspond to a third calculation unit. The CPU 24a and the GPU 20a correspond to a fourth calculation unit. The storage devices 22a and 22b correspond to storage units.

[0070] The visualization simulation system 10a also provides the same effects as those of the visualization simulation system 10.

[0071] Furthermore, according to the visualization simulation system 10a, calculations can be distributed among the two computers 12a and 12b, so that the calculation load on each of the computers 12a and 12b can be reduced.

[0072] Furthermore, a visualization simulation system 10b according to another embodiment of the present invention will be described with reference to FIG.

[0073] The visualization simulation system 10b is a device for HILS (Hardware-In-the-Loop Simulation), and an embedded computer 12c is used instead of the computer 12b of the visualization simulation system 10a. The embedded computer 12c includes a CPU 24c, a memory 26c, and an interface 28c. The memory 26c includes a ROM 38 and a RAM 40, and the ROM 38 stores a control program for controlling a control target. The interface 28c includes an external device connection device 30c and a network connection device 32c. The computer 12a and the embedded computer 12c are connected to each other via the network connection devices 32a and 32c. The other configurations of the visualization simulation system 10b are the same as those of the visualization simulation system 10a.

[0074] In this embodiment, the computer 12a performs motion model calculations, game engine calculations, and generation of 3D animation images, while the embedded computer 12c performs control calculations.

[0075] That is, the CPU 24a of the computer 12a performs a motion model calculation using a motion model based on the control calculation result and the game engine calculation result in response to a command from the visualization simulation program. The CPU 24a and the GPU 20a cooperate to perform a game engine calculation using 3D shape data, a game engine, and driving environment data in response to a command from the visualization simulation program in response to a command from the visualization simulation program in response to a command from the visualization simulation program in response to a command from the game engine to generate a 3D animation image of the game engine calculation result. Meanwhile, the CPU 24c of the embedded computer 12c executes a control program in response to a command from the visualization simulation program in response to a command from the visualization simulation program in response to a command from the visualization simulation program in response to a command from the game engine to perform a control calculation based on the motion model calculation result and the game engine calculation result.

[0076] In this way, in the visualization simulation system 10b, distributed processing is performed, and the control calculations that were performed by the CPU 24b of the computer 12b in the visualization simulation system 10a according to the previous embodiment are processed by the CPU 24c of the embedded computer 12c.

[0077] In this embodiment, the CPU 24c corresponds to a first calculation unit. The CPU 24a corresponds to a second calculation unit. The CPU 24a and the GPU 20a correspond to a third calculation unit. The CPU 24a and the GPU 20a correspond to a fourth calculation unit. The storage device 22a and the ROM 38 correspond to the storage unit.

[0078] The visualization simulation system 10b also provides the same effects as those of the visualization simulation system 10a.

[0079] 1, a control program for controlling a control target may be stored in the storage device 22 instead of storing the control model and the linked software program for executing the control model. In this case, the CPU 24 of the computer 12 executes the control program in response to a command from the visualization simulation program to perform control calculation based on the motion model calculation result and the game engine calculation result.

[0080] In the above embodiment, as shown in Fig. 2, the control calculation is performed based on the motion model calculation result and the game engine calculation result, but is not limited to this. The control calculation may be performed based on the motion model calculation result without being based on the game engine calculation result.

[0081] The controlled object to which this invention is applicable is not limited to a four-wheeled vehicle, but may be any transportation equipment, such as other vehicles such as two-wheeled vehicles, aircraft such as multicopters, and ships. [Explanation of symbols]

[0082] 10, 10a, 10b Visualization Simulation System 12,12a,12b Computer 12c Embedded Computers 14 Input section 16 Display 20,20a,20b GPU 22,22a,22b Storage device 24,24a,24b,24c CPU 26, 26a, 26b, 26c Memory 38 ROM 40 RAM

Claims

1. A visualization simulation system that simulates a behavior of a control target, comprising: a storage unit in which 3D shape data of the control object, a motion model of the control object, a control model or a control program of a control device that controls the control object, a game engine, a visualization simulation program, an association software program for executing the control model, and driving environment data are stored; a first calculation unit that performs control calculation using the control model or the control program executed by the linked software program; A second calculation unit that performs a motion model calculation using the motion model; a third calculation unit that performs game engine calculations using the 3D shape data, the game engine, and the driving environment data; a fourth calculation unit that generates a 3D animation image of the game engine calculation result by the third calculation unit using the game engine in response to a command from the visualization simulation program; a display unit for displaying the 3D animation image, The first calculation unit performs a control calculation based on a motion model calculation result by the second calculation unit in response to a command from the visualization simulation program; the second calculation unit performs a motion model calculation based on a control calculation result by the first calculation unit and a game engine calculation result by the third calculation unit in response to a command from the visualization simulation program; The third calculation unit performs game engine calculations based on the motion model calculation results by the second calculation unit in response to instructions from the visualization simulation program.

2. The visualization simulation system according to claim 1 , wherein the first calculation unit further performs a control calculation based on a result of the game engine calculation by the third calculation unit.

3. the visualization simulation program includes a program for displaying a user interface on the display unit, The visualization simulation system according to claim 1 , further comprising an input unit for operating the user interface displayed on the display unit.

4. The visualization simulation system according to claim 1 , wherein the driving environment data includes 3D topographical data and disturbance data linked to the 3D topographical data.

5. A visualization simulation method for simulating a behavior of a control object by using 3D shape data of the control object, a motion model of the control object, a control model or a control program of a control device that controls the control object, a game engine, a visualization simulation program, a cooperative software program for executing the control model, and driving environment data, comprising: a first step of performing a control calculation using the control model or the control program executed by the cooperative software program; A second step of performing a motion model calculation using the motion model; a third step of performing a game engine calculation using the 3D shape data, the game engine, and the driving environment data; a fourth step of generating a 3D animation image of the game engine calculation result in the third step by using the game engine in response to a command from the visualization simulation program; and a fifth step of displaying the 3D animation image on a display unit. The first step performs a control calculation based on a motion model calculation result obtained by the second step in response to a command from the visualization simulation program; the second step performs a motion model calculation based on the control calculation result of the first step and the game engine calculation result of the third step in response to a command from the visualization simulation program; The third step is a visualization simulation method in which a game engine calculation is performed based on a motion model calculation result obtained in the second step, in response to a command from the visualization simulation program.

Images