Driving simulation device and driving route instruction method

Abstract

To provide a travel simulator capable of simulating matters peculiar to driving a large-sized vehicle within a narrow site, and a method of instructing a travel route.SOLUTION: A travel simulator 3 comprises a three-dimensional model generating section 19B that creates, based on point-group data acquired by measuring a region slated for a vehicle to travel and its surrounding, a three-dimensional model of the region, a vehicle-model acquiring section 21 that acquires a vehicle model generated based on vehicle data of the vehicle, a travel simulating section 23 that determines an optimal route for the vehicle model to travel by allowing the vehicle model to virtually travel on the three-dimensional model, and a position-coordinate information output section 17B that outputs a virtual travel path of at least one wheel allowing a driver to look during driving out of wheels of the vehicle model traveling the optimal route, as position-coordinate information in the region.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving simulation device and a driving route instruction method. [Background technology]

[0002] When using large vehicles such as trucks and trailers to transport cargo into narrow premises due to the surrounding road environment and the presence of obstacles, the driver is required to drive carefully to avoid hitting obstacles while driving. Conventionally, this involved (a) measuring and mapping the premises, passable area, and obstacles, and then studying the trajectory on CAD, or (b) having an experienced driver check the site, and then creating a transport plan prior to the actual transport.

[0003] However, in the case of (a), it was necessary to import the data into CAD, and the study was conducted on a flat surface, which sometimes resulted in a difference in the image from the actual site. Furthermore, it was not possible to consider obstacles in the vertical direction, such as overhead lines. In the case of (b), an experienced driver was required to check the site, and it was difficult to communicate the route to other drivers.

[0004] For example, Patent Document 1 discloses a driving assistance device that is mounted on a vehicle and that avoids obstacles. Patent Document 2 discloses a device that uses point cloud data to reproduce terrain and the like on a computer and simulates work by a work vehicle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-142793 [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-105081 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the driving assistance device of Patent Document 1 has a problem in that it must be installed in an actual vehicle, and cannot be used unless the device is installed in a vehicle that is actually used for delivery.

[0007] In addition, the device of Patent Document 2 has the problem that it is difficult to simulate the specific matters that drivers need to pay attention to when driving large vehicles such as trucks and trailers in narrow premises, and it may be difficult to reproduce the simulation results in the actual site.

[0008] An object of the present invention is to provide a driving simulation device and a driving route instruction method that can simulate the particular issues that arise when driving a large vehicle in a narrow lot.

[0009] Another object of the present invention is to provide a driving simulation device and a driving route instruction method that can reproduce simulation results on-site without installing the device in an actual vehicle. [Means for solving the problem]

[0010] In order to achieve the above-mentioned object, the driving simulation device of the present invention includes a three-dimensional model generation unit that creates a three-dimensional model of an area where a vehicle is scheduled to drive based on point cloud data acquired by surveying the area and its surroundings; a vehicle model acquisition unit that acquires a vehicle model generated based on vehicle data of the vehicle; a driving simulation unit that virtually drives the vehicle model on the three-dimensional model and determines an optimal route for the vehicle model to drive; and a position coordinate information output unit that outputs, as position coordinate information in the area, a virtual driving trajectory of at least one wheel of the vehicle model that is visible to the driver while driving and that drives the optimal route. [Effects of the Invention]

[0011] The driving simulation device of the present invention obtains position coordinate information based on an optimal route derived by driving a vehicle model within a three-dimensional model that has been surveyed and reproduced of the area in which the vehicle is scheduled to travel. Therefore, by referring to the position coordinate information, the driver can drive smoothly even in a narrow lot. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a block diagram showing a configuration of an embodiment of a driving simulation system; [Figure 2] 1 is a flowchart showing the actions of a user who constructs and uses a driving simulation system. [Figure 3] 3 is a flowchart showing the processing of the driving simulation system. [Figure 4] This is a map showing a construction site with a small lot. [Figure 5] FIG. 1 is a diagram showing a surveying procedure using a surveying device. [Figure 6] FIG. 1 is a diagram showing a state of surveying using a surveying device. [Figure 7] 10 is an example of a three-dimensional model generated by a three-dimensional model generation unit. [Figure 8] 1A and 1B are diagrams of a truck, which is an example of a vehicle, in which (a) is a side view and (b) is a plan view. [Figure 9] 3 is an example of a vehicle model generated by a vehicle model generation unit. [Figure 10] 10 is an example of an image of a three-dimensional model and a vehicle model displayed on a display unit. [Figure 11] 1 is an example of a trajectory of a vehicle model. [Figure 12] This is an example of an optimal route. [Figure 13] 10 is an example of a diagram in which the display on the display unit by the driving simulation unit is set to a driving simulator mode in which an image of the driver's seat is displayed. [Figure 14] 10 is an example of position coordinate information output as text data. [Figure 15]10A and 10B are diagrams showing how position coordinates are indicated on a road surface by a coordinate indicating device. [Figure 16] This is an example in which the indicated position coordinates are marked with adhesive tape. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, a driving simulation device and a driving route instruction method according to an embodiment of the present invention will be described with reference to the drawings. This embodiment particularly relates to a driving simulation device and a driving route instruction method for carrying in a large vehicle (truck) to a narrow construction site.

[0014] 1 is a block diagram showing the configuration of an embodiment of a driving simulation system. As shown in FIG. 1, the driving simulation system 1 is made up of a driving simulation device (server) 3, an information terminal 5, a surveying device 7, and a coordinate designating device 9.

[0015] <Driving simulation device> The driving simulation device 3 includes a communication unit 11, a data storage unit 13, a simulation control unit 15, and a data output unit 17.

[0016] The communication unit 11 communicates with the information terminal 5 via the telecommunications line NW. The data storage unit 13 stores data including data received from the information terminal 5. As will be described later, the information terminal 5 stores point cloud data acquired by surveying the area around the area where the vehicle is scheduled to travel (hereinafter also referred to as the local area) and vehicle data of the vehicle scheduled to travel, and the data storage unit 13 stores this information.

[0017] The simulation control unit 15 includes a three-dimensional model acquisition unit 19, a vehicle model acquisition unit 21, and a driving simulation unit 23. The three-dimensional model acquisition unit 19 includes a point cloud data acquisition unit 19A and a three-dimensional model generation unit 19B. The point cloud data acquisition unit 19A acquires, from the data storage unit 13, point cloud data acquired by surveying the area around the area where the vehicle is scheduled to travel. The three-dimensional model generation unit 19B creates a three-dimensional model of the area based on the point cloud data acquired by the point cloud data acquisition unit 19A.

[0018] Vehicle model acquisition unit 21 includes vehicle data acquisition unit 21A and vehicle model generation unit 21B. Vehicle data acquisition unit 21A acquires vehicle data of the vehicle from data storage unit 13. Vehicle model generation unit 21B creates a vehicle model based on the vehicle data of the vehicle acquired by vehicle data acquisition unit 21A. Note that in the present embodiment, vehicle model acquisition unit 21 creates a vehicle model, but it goes without saying that the generated vehicle model may be stored in advance in data storage unit 13 and the target vehicle model may be read out as needed.

[0019] The running simulation unit 23 virtually runs a vehicle model on a three-dimensional model and determines the optimum route for the vehicle model to run.

[0020] The data output unit 17 includes a shared data output unit 17A and a position coordinate information output unit 17B. In response to a request from the information terminal 5, the shared data output unit 17A stores the determined optimum route in the data storage unit 13, and outputs data for reproducing the same optimum route on another information terminal. In response to a request from the information terminal 5, the position coordinate information output unit 17B outputs, as local position coordinate information, a virtual travel trajectory of at least one wheel visible to the driver while driving, among the wheels of the vehicle model traveling along the determined optimum route. In this embodiment, the virtual travel trajectory is the trajectory of three wheels, namely the right front wheel, the right rear wheel, and the left rear wheel of the vehicle model. The position coordinate information is information that can be read by the coordinate indicating device 9 to indicate the position coordinates on the road surface of the area.

[0021] <Information terminal> The information terminal 5 is a computer terminal used by a user. Specific examples include, but are not limited to, mobile phones, smartphones, tablet terminals, and personal computers (notebook PCs and desktop PCs). The information terminal 5 includes a communication unit 25, an input unit 27, a data storage unit 29, a control unit 31, and a display unit 33.

[0022] The communication unit 25 is connected to the telecommunications line NW and is used to communicate with the driving simulation device 3. The input unit 27 is used to input and operate data, and various devices can be used depending on the user terminal, such as a keyboard, a mouse, or a touch panel using the display unit 33. In order to use it as a driving simulator, it is also possible to use VR goggles as the display unit 33 and a steering wheel type controller as the input unit 27, which is an operation unit for controlling the traveling direction of the vehicle model.

[0023] In this embodiment, a computer program for using the driving simulation device 3 is installed in the information terminal 5. By starting the computer program, the driving simulation device 3 can be used on the information terminal 5.

[0024] <Surveying equipment> The surveying device 7 is a device for surveying the area around the area where the vehicle is scheduled to travel and acquiring point cloud data. In this embodiment, a terrestrial laser scanner (TLS) is used as the surveying device 7 to acquire point cloud data. By using the TLS to conduct surveys at multiple locations and combining the obtained data, it is also possible to obtain point cloud data over a wide area. The surveying device 7 used in this embodiment is used in conjunction with targets TG1 and TG2 installed at appropriate positions to combine the data.

[0025] <Coordinate indicating device> The coordinate indicating device 9 reads the position coordinate information output by the position coordinate information output unit 17B and indicates the position coordinates on the road surface of the area. In this embodiment, a layout navigator (registered trademark: KuiNavi) that can indicate position coordinates is used. The layout navigator can indicate position coordinates by irradiating light onto the road surface to indicate the position coordinates. Alternatively, an optical distance meter or the like can be used as the coordinate indicating device 9.

[0026] <Flowchart> Figure 2 is a flowchart showing the actions of a user who builds and uses a driving simulation system, and Figure 3 is a flowchart showing the processing of the driving simulation system. Below, we will explain, along with the flowcharts of Figures 2 and 3, the construction and use of a driving simulation system for carrying out delivery using a large truck into a narrow site PL within a construction site located on the map shown in Figure 4. At the entrance to site PL, there is a gate GT facing the road, and it is assumed that the vehicle will enter site PL by backing up from gate GT.

[0027] In the following, there may be multiple users involved, such as a user who builds the driving simulation system, a user who considers the optimal route, a user who conducts driving training on the driving simulation system, and a user who performs marking on site, but in the following, they will be referred to as "users" without making any distinction.

[0028] The user travels to the area shown in FIG. 4 where the vehicle is scheduled to travel, conducts a survey using the surveying device 7, and acquires point cloud data (step ST1-1). The area shown in FIG. 4 has a construction site in the center, and a truck will be used to transport goods into the narrow lot PL within the construction site. Therefore, the user surveys the surrounding area including the construction site using the surveying device 7.

[0029] The user proceeds with the surveying by moving the surveying instrument 7 in order from point (1) to point (10) shown in Fig. 5, and also by moving the targets TG1 and TG2. Fig. 6 is a diagram showing the state of surveying by the surveying instrument 7.

[0030] After acquiring the point cloud data, the user stores the point cloud data in the data storage unit 29 of the information terminal 5, then stores the point cloud data in the data storage unit 13 of the driving simulation device 3, and instructs the generation of a three-dimensional model (step ST1-2).

[0031] In response to an instruction from a user, the point cloud data acquisition unit 19A acquires point cloud data from the data storage unit 13 (step ST2-1). The three-dimensional model generation unit 19B generates a three-dimensional model based on the point cloud data acquired by the point cloud data acquisition unit 19A (step ST2-2).

[0032] The three-dimensional model generating unit 19B generates a three-dimensional model based on the point cloud data and on the user's instructions as follows: Fig. 7 shows an example of a three-dimensional model generated by the three-dimensional model generating unit 19B. Set the surface model that constitutes the surface on which the vehicle model will travel. Set up an obstacle model with collision detection capabilities. Obstacles are objects that exist in front of the driving surface and that the vehicle may collide with, including, for example, buildings, guardrails, curbs, and overhead lines. It is also possible to place another vehicle that is scheduled to stop first as an obstacle model. - Delete moving objects such as people and cars on roads that do not have collision detection, and objects that can be removed on site. The density of point cloud data for surface models and obstacle models can be set higher than for other parts. This makes it possible to display a 3D model by thinning out the point cloud data for parts other than the surface models and obstacle models, even if the computing performance of the information terminal 5 is low.

[0033] The user also acquires vehicle data of the vehicle that is scheduled to travel within the area (step ST1-3). The vehicle data includes the overall shape of the vehicle, including its length, height, and width, as well as so-called specification data that is necessary for vehicle modeling. The vehicle data may be obtained by measuring the vehicle, or may be obtained from specifications published by the manufacturer or the like. In this embodiment, as shown in the side view of FIG. 8(a) and the plan view of FIG. 8(b), the vehicle is a truck TR, a large vehicle that is scheduled to travel within the area.

[0034] Of course, the vehicle is not limited to a truck. For example, if the vehicle to be driven is a trailer, the data acquired includes the specifications of the tractor portion that can move by itself and the trailer portion that is connected to the tractor portion and towed by the tractor portion.

[0035] After acquiring the vehicle data, the user stores the vehicle data in the data storage unit 29 of the information terminal 5, then stores the vehicle data in the data storage unit 13 of the driving simulation device 3, and instructs the generation of a vehicle model (step ST1-4).

[0036] In response to an instruction from the user, vehicle data acquisition unit 21A acquires vehicle data from data storage unit 13 (step ST2-3). Vehicle model generation unit 21B generates a vehicle model based on the vehicle data acquired by vehicle data acquisition unit 21A (step ST2-4).

[0037] Vehicle model generation unit 21B generates a vehicle model based on the vehicle data and on instructions from the user as follows: Fig. 9 shows an example of a vehicle model generated by vehicle model generation unit 21B. · Set the vehicle dynamics structure (vehicle shape, weight, drive function, articulation function, wheels, etc.). Set the front wheel turning angle (steering function, maximum turning angle). - Set collision detection for vehicle models.

[0038] As mentioned above, it is of course possible to store the generated vehicle model in advance in the data storage unit 13 and read out the target vehicle model as needed.

[0039] Next, the user instructs the driving simulation device 3 to display the three-dimensional model and the vehicle model (step ST1-5). In response to the instruction from the user, the driving simulation unit 23 reproduces the three-dimensional model and the vehicle model and displays them on the display unit 33 of the information terminal 5 (step ST2-5).

[0040] FIG. 10 shows examples of images of a three-dimensional model and a vehicle model displayed on the display unit 33. In this embodiment, the images displayed on the display unit 33 can be selected as appropriate. As shown in FIG. 10, for example, it is possible to combine a bird's-eye view image GR1 looking down on the three-dimensional model from above, a sub-image GR2 illustrating the trajectory of the vehicle model, a front image GR3 showing the forward direction of the vehicle model, a rear image GR4 showing the rearward direction of the vehicle model, and a driver's seat image GR5 reproducing the view from the driver's seat of the vehicle model. The display unit 33 also displays an operation button BT that can be operated by the input unit 27, which serves as an operation unit. The display / non-display of the operation button BT can be selected. While viewing the image displayed on the display unit 33, the user can operate the input unit 27 to virtually drive the vehicle model on the three-dimensional model.

[0041] The user operates input unit 27 to virtually drive the vehicle model on the three-dimensional model and consider a route for parking the vehicle model (truck model) on the narrow site PL within the construction site (step ST1-6). When the vehicle model is virtually driven on the three-dimensional model, driving simulation unit 23 records the trajectory of the vehicle model (step ST2-6).

[0042] As shown in FIG. 11 , in this embodiment, the vehicle model's trajectory is recorded each time the vehicle travels a predetermined distance (200 mm in actual distance in this example) along with an identification number (ID) that identifies the order. The positions of the vehicle model's (1) right front wheel (circle), (2) right rear wheel (square), (3) left rear wheel (triangle), (4) center of the tip (diamond), and (5) line along the tip are recorded. The positions of the right front wheel, right rear wheel, and left rear wheel are the contact positions of the outer edge of the vehicle model with the road surface. The reason for recording the trajectories of the three wheels, the right front wheel, right rear wheel, and left rear wheel, is so that the driver of the actual truck TR can record the wheel positions that are visible to the driver either directly or using an on-board mirror as the intended wheel positions.

[0043] As described above, collision detection is set for the vehicle model and the obstacle model, and when the vehicle model collides with an obstacle model, a warning of the collision is issued. In this embodiment, the warning is issued by flashing the display unit 33 and by sound. Furthermore, when a collision occurs, a mark indicating the contact point is displayed on the three-dimensional model.

[0044] The user repeats virtual driving using the vehicle model to determine the optimum route (step ST1-7). For example, in this embodiment, the route shown in FIG. 12 is set as the optimum route. Once the optimum route is determined, the driving simulation unit 23 records the trajectory of the optimum route in the data storage unit 13 (step ST2-7). The optimum route is recorded as position coordinate information.

[0045] The driving simulation unit 23 can also provide driving training for a vehicle model. FIG. 13 is an example of a diagram in which the display unit 33 by the driving simulation unit 23 is displayed in a driving simulator mode showing a driver's seat image. As shown in FIG. 13, in the driving simulator mode, not only the view seen through the window but also the view reflected in the vehicle's mirrors (rearview mirror BM and side mirrors SM1 to SM5) is reproduced. The vehicle's mirrors can be adjusted to any angle within a predetermined angle range. By setting each unit to display the trajectory of the optimal route (particularly, the virtual driving trajectories of the three wheels: the right front wheel, the right rear wheel, and the left rear wheel), a simulated driving experience can be provided while checking the optimal route (step ST1-8). In particular, by using VR goggles as the display unit 33 and a steering wheel-type controller as the input unit 27, a realistic simulated experience can be provided.

[0046] Next, in this embodiment, the user can mark the location. When marking the location, the user instructs the driving simulation device 3 from the information terminal 5 to output position coordinate information (step ST1-9). In response to the instruction from the user, the position coordinate information output unit 17B outputs the position coordinate information (step ST2-9). The position coordinate information is a virtual driving trajectory indicating the intended driving wheel positions of the right front wheel, right rear wheel, and left rear wheel, and is output as text data TXT1 to TXT3 for each wheel, as shown in FIG. 14.

[0047] The user loads the position coordinate information into the coordinate pointing device 9 and takes the coordinate pointing device 9 to the location. As shown in FIG. 15, the user uses the coordinate pointing device 9 to indicate the position coordinates on the road surface at the location (step ST1-10). Then, the user marks the indicated position coordinates with adhesive tape or the like (step ST1-11, see FIG. 16). It is advisable to use different colors for the marks for each wheel so that it is easy to tell which wheel each mark belongs to. The positions at which marks are not required to be placed on all position coordinates are free to thin out the marks or limit them to locations where there is a particular risk of collision with an obstacle, at the discretion of the user placing the marks.

[0048] When actually parking the truck on the site PL, the driver can drive the truck along the optimal route by moving the corresponding wheels along the corresponding markings, and park the truck on the site PL without hitting any obstacles.

[0049] <Functions of the driving simulation device and driving route instruction method> The operation of the driving simulation device and the driving route instruction method of this embodiment will be described below.

[0050] The driving simulation device 3 of this embodiment includes a three-dimensional model generation unit 19B that creates a three-dimensional model of the area based on point cloud data obtained by surveying the area around which the vehicle is scheduled to drive, a vehicle model acquisition unit 21 that acquires the vehicle model generated based on vehicle data of the vehicle, a driving simulation unit 23 that virtually drives the vehicle model on the three-dimensional model and determines the optimal route for the vehicle model to travel, and a position coordinate information output unit 17B that outputs, as position coordinate information in the area, the virtual driving trajectory of at least one wheel of the vehicle model that is visible to the driver while driving and that travels along the optimal route.

[0051] The driving simulation device of the present invention obtains position coordinate information based on an optimal route derived by driving a vehicle model within a three-dimensional model that has been surveyed and reproduced of the area in which the vehicle is scheduled to travel. Therefore, by referring to the position coordinate information, the driver can drive smoothly even in a narrow lot.

[0052] The at least one wheel may be any one of the right front wheel, right rear wheel, left rear wheel of the vehicle model, or any combination of two or more of these wheels, as these are the wheels that are visible to the driver either directly or using the vehicle's on-board mirrors.

[0053] The three-dimensional model can include a surface model that defines the surface on which the vehicle model travels, and an obstacle model that represents obstacles that exist in the area. The obstacle model is a model of objects that exist in a position facing the surface, including buildings, guardrails, curbs, and overhead lines. In this way, the surface and obstacle models can be defined, and travel can be simulated.

[0054] The density of the point cloud data representing the surface model and obstacle model of the three-dimensional model can be made higher than that of other parts. By doing so, even if the computing performance of the information terminal 5 is low, the three-dimensional model can be displayed by thinning out the point cloud data of parts other than the surface model and obstacle model.

[0055] The driving simulation unit 23 may further include a display unit 33 that displays a three-dimensional model including a virtual driving trajectory and a vehicle model on a screen, and an operation unit (input unit) 27 for operating the traveling direction of the vehicle model in the three-dimensional model, and the driving simulation unit 23 may be able to accept operations from the operation unit (input unit) 27 and provide driving training for the vehicle model. In this way, a driver who plans to drive at the site can have a simulated driving experience before actually driving at the site.

[0056] The driving route instruction method of this embodiment includes a step of acquiring position coordinate information from the position coordinate information output unit 17B of the driving simulation device 3, and a step of marking the intended wheel position for driving on the road surface of the area based on the position coordinate information.

[0057] The marking step includes a step of reading the position coordinate information and indicating the position coordinates on the road surface by a coordinate indicating device 9 that indicates the position coordinates on the road surface of the area, and a step of marking the indicated position coordinates.

[0058] By marking the location in this way, the driver can drive the vehicle along the optimal route without colliding with any obstacles by simply moving the corresponding wheels along the corresponding mark.

[0059] Although the embodiments of the present invention have been specifically described above, the present invention is not limited to these embodiments, and it goes without saying that modifications are possible within the scope of the technical concept of the present invention.

[0060] For example, in the above example, a driving simulation device and an information terminal are connected via a telecommunications line NW, but a driving simulation device may be built in a single information terminal. Also, a driving simulation device may be built using multiple pieces of hardware.

[0061] In the above example, a driving simulation system was used to transport goods to a narrow construction site using a truck, but it is of course possible to target not only construction sites but also narrow intersections, temporary yards, temporary piers set up in the mountains, etc. Furthermore, large vehicles other than trucks, such as buses, may also be targeted.

[0062] Furthermore, in the above example, obstacles that actually exist on site were used as obstacle models, but it is also possible to add obstacle models for obstacles that have been installed or are scheduled to be installed after the survey and simulate them, or to simulate the case where an obstacle model for an existing obstacle is removed.

[0063] In the above example, the vehicle is assumed to be a right-hand drive vehicle, and the virtual driving trajectories of the three wheels, the right front wheel, the right rear wheel, and the left rear wheel, are acquired. In the case of a left-hand drive vehicle, the virtual driving trajectories of the three wheels, the left front wheel, the right rear wheel, and the left rear wheel, are acquired. [Explanation of symbols]

[0064] 1 Driving simulation system 3 Driving simulation device 5. Information terminals 7 Surveying equipment 9 Coordinate indicating device 11 Communications Department 13 Data storage unit 15 Simulation control section 17 Data output section 17A Shared data output section 17B Position coordinate information output section 19 Three-dimensional model acquisition unit 19A Point cloud data acquisition unit 19B 3D model generation unit 21 Vehicle Model Acquisition Department 21A Vehicle data acquisition unit 21B Vehicle model generation unit 23 Driving Simulation Section 25 Communications Department 27 Input section 29 Data storage unit 31 Control Unit 33 Display section

Claims

1. a three-dimensional model generation unit that generates a three-dimensional model of an area where the vehicle is scheduled to travel based on point cloud data acquired by surveying the area; a vehicle model acquisition unit that acquires a vehicle model generated based on vehicle data of the vehicle; a travel simulation unit that virtually runs the vehicle model on the three-dimensional model and determines an optimal route for the vehicle model to travel; a position coordinate information output unit that outputs, as position coordinate information in the area, a virtual travel trajectory of at least one wheel that is visible to a driver while driving, among the wheels of the vehicle model traveling on the optimal route. A driving simulation device characterized by:

2. The at least one wheel is any one of a right front wheel, a right rear wheel, and a left rear wheel of the vehicle model, or a combination of any two or more thereof.

2. The driving simulation device according to claim 1.

3. The three-dimensional model includes a surface model that configures a traveling surface on which the vehicle model travels, and an obstacle model relating to obstacles present in the area.

3. The driving simulation device according to claim 1 or 2.

4. The obstacle model is a model of objects that exist in positions facing the driving surface, including buildings, guardrails, curbs, and overhead wires.

4. The driving simulation device according to claim 3.

5. The three-dimensional model has a higher density of point cloud data representing the surface model and the obstacle model than other parts.

4. The driving simulation device according to claim 3.

6. a display unit that displays the three-dimensional model including the virtual traveling trajectory and the vehicle model on a screen; an operation unit for operating a traveling direction of the vehicle model within the three-dimensional model, The driving simulation unit is capable of receiving an operation from the operation unit and providing driving training for the vehicle model.

4. The driving simulation device according to claim 3.

7. acquiring the position coordinate information from the position coordinate information output unit of the driving simulation device according to claim 1 or 2; and marking the intended wheel positions on the road surface of the area based on the position coordinate information. A driving route instruction method comprising:

8. The method for indicating a route according to claim 7, The marking step includes: a step of reading the position coordinate information and indicating the position coordinates on a road surface by a coordinate indicating device that indicates the position coordinates on a road surface in the area; and marking the indicated position coordinates. A driving route instruction method comprising:

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