Navigation simulator, information processing system, and program

Abstract

To provide a navigation simulator and the like for executing operation verification of a car navigation system by electrically reproducing a sensor signal necessary for the operation verification.SOLUTION: In an information processing system, a navigation simulator 4 comprises an acquisition section, an emulation function section, and an output section. The acquisition section acquires, from a PC1, a test scenario including a simulator built-in sensor signal. The emulation function section generates an emulated sensor signal obtained by emulating a car navigator built-in sensor signal on the basis of the simulator built-in sensor signal included in the test scenario. The output section outputs the generated emulated sensor signal to a car navigation system. The simulator built-in sensor signal is detected by the simulator built-in sensor installed in the navigation simulator when a vehicle drives on a preset driving route. The car navigator built-in sensor signal is detected by a car navigator built-in sensor installed in the car navigation system.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a navigation simulator , love This invention relates to an information processing system and a program. [Background technology]

[0002] Technologies have been developed to verify the operation of car navigation systems using simulation systems that can be implemented on a desk.For example, a technology has been developed that simulates driving conditions such as vehicle turning by placing the car navigation system to be tested on a turntable and rotating the turntable in accordance with the GNSS (Global Navigation Satellite System) signals output from a GNSS receiver. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-108009 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-98994 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the turntable of the above technology simulates the vehicle's running state only by rotating the turntable, so it can only reproduce the vehicle's running state by rotating on one axis, and it cannot simulate sensors such as acceleration sensors installed in the vehicle, and it also has the problem of the system becoming large.

[0005] The present disclosure relates to a navigation simulator that can electrically reproduce sensor signals required for verifying the operation of a car navigation system and perform the verification of the operation of the car navigation system. , love We provide information processing systems and programs. [Means for solving the problem]

[0006] A navigation simulator according to the present disclosure includes an acquisition unit, an emulation function unit, and an output unit. a data logging function unit; The acquisition unit acquires a test scenario including a simulator's built-in sensor signal from an external device. The emulation function unit generates a simulated sensor signal that emulates a car navigation system's built-in sensor signal based on the simulator's built-in sensor signal included in the test scenario. The output unit outputs the simulated sensor signal generated by the emulation function unit to the car navigation system. The data logging function unit stores a driving log file including the simulator's built-in sensor signals in a storage unit. The simulator built-in sensor signal indicates motion information detected by a simulator built-in sensor mounted in the navigation simulator when the vehicle travels along a predetermined travel route. The simulator's built-in sensor signal represents the motion information detected by the simulator's built-in sensor as a dimensionless quantity. The car navigation system built-in sensor signal indicates motion information detected by a car navigation system built-in sensor. [Effects of the Invention]

[0007] Navigation simulator according to the present disclosure , love According to the information processing system and the program, the sensor signals required for the operation verification of the car navigation system can be electrically reproduced to perform the operation verification of the car navigation system. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of an information processing system according to this embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the functional configuration of the navigation simulator HW according to this embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of the functional configuration of a PC according to this embodiment. [Figure 4] FIG. 4 is a flowchart showing an example of the flow of the recording process of the actual vehicle running test log data in the information processing system according to this embodiment. [Figure 5]FIG. 5 is a flowchart showing an example of the flow of the virtual driving route data generation process in the information processing system according to this embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of the flow of a process for outputting a navigation simulator scenario in the information processing system according to this embodiment. [Figure 7] FIG. 7 is a diagram for explaining an example of a playback process of a navigation simulator scenario in the information processing system according to this embodiment. [Figure 8] FIG. 8 is a diagram for explaining an example of a playback process of a navigation simulator scenario in the information processing system according to this embodiment. [Figure 9] FIG. 9 is a diagram for explaining an example of a playback process of a navigation simulator scenario in the information processing system according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of a navigation simulator, an information processing device, an information processing system, and a program according to the present disclosure will be described with reference to the drawings.

[0010] Fig. 1 is a diagram showing an example of the configuration of an information processing system according to this embodiment. As shown in Fig. 1, the information processing system according to this embodiment includes a PC (Personal Computer) 1, a GNSS (Global Navigation Satellite System) simulator 2, a signal distributor 3, a navigation simulator HW (hereinafter referred to as "navigation simulator HW") 4, and a test target 5.

[0011] The PC 1 is an example of an information processing device. The PC 1 generates a scenario for a GNSS simulation and a scenario for a navigation simulator based on actual vehicle driving test log data (an example of a driving log file) or virtual driving route data (an example of a virtual driving scenario).

[0012] Here, the actual vehicle running test log data includes a simulator built-in sensor signal. The simulator built-in sensor signal indicates motion information (e.g., angular velocity, acceleration) detected by a simulator built-in sensor 404 (see FIG. 2) and is expressed as a dimensionless quantity. The simulator built-in sensor 404 is mounted on the navigation simulator HW4. In this embodiment, the actual vehicle running test log data includes a vehicle signal indicating vehicle information (e.g., vehicle speed, CAN information). The vehicle information is acquired by the navigation simulator HW4.

[0013] The virtual travel route data includes virtual sensor signals. The virtual sensor signals indicate motion information detected by sensors built into the simulator when a vehicle virtually travels along a predetermined travel route, and are expressed as physical quantities. In this embodiment, the virtual travel route data includes vehicle signals of the vehicle when the vehicle virtually travels along the predetermined travel route.

[0014] The GNSS simulation scenario includes position information and time information of a vehicle traveling along a predetermined travel route. Furthermore, the navigation simulator scenario is an example of a test scenario that includes a simulator-integrated sensor signal or a virtual sensor signal. In this embodiment, the navigation simulator scenario includes, in addition to the simulator-integrated sensor signal or the virtual sensor signal, position information and time information of a vehicle traveling along a predetermined travel route.

[0015] The GNSS simulator 2 is connected to the PC 1, and generates a GNSS signal (hereinafter referred to as a simulated GNSS signal) indicating vehicle position information by simulation based on position information included in a GNSS simulator scenario generated by the PC 1. The GNSS simulator 2 is connected to the PC 1, for example, via a serial bus standard such as USB (Universal Serial Bus) or Ethernet (registered trademark). The GNSS simulator 2 then outputs the simulated GNSS signal and time information to a signal distributor 3. The GNSS simulator 2 is also called a signal generator.

[0016] The signal distributor 3 outputs the simulated GNSS signal and time information output from the GNSS simulator 2 by RF (Radio Frequency) or the like to the test subject 5. Furthermore, the signal distributor 3 outputs the simulated GNSS signal and time information output from the GNSS simulator 2 to the navigation simulator HW4.

[0017] The navigation simulator HW4 (an example of a navigation simulator) is connected to the PC1 via a serial bus standard such as USB, and acquires a navigation simulator scenario from the PC1. Next, the navigation simulator HW4 generates a simulated sensor signal that emulates the car navigation system's built-in sensor signal based on the simulator's built-in sensor signal or virtual sensor signal included in the navigation simulator scenario. The car navigation system's built-in sensor signal indicates motion information detected by the car navigation system's built-in sensor 503 mounted on the test target 5. The navigation simulator HW4 then outputs the generated simulated sensor signal to the test target 5. Furthermore, the navigation simulator HW4 generates a simulated vehicle signal that emulates the vehicle's vehicle signal based on the vehicle signal included in the navigation simulator scenario, and outputs the simulated vehicle signal to the test target 5.

[0018] In this embodiment, the navigation simulator HW4 outputs a simulated sensor signal and a simulated vehicle signal to the test object 5 in synchronization with the output of the simulated GNSS signal from the signal distributor 3 to the test object 5, based on the simulated GNSS signal and time information input from the signal distributor 3.

[0019] The test target 5 is an example of an on-board device or a car navigation system installed in a vehicle. In this embodiment, the test target 5 includes a GNSS receiver 501, a vehicle signal receiver 502, a car navigation built-in sensor 503, a CPU (Central Processing Unit) 504, a storage device 505, a display device 506, an input device 507, and a communication device 508.

[0020] The GNSS receiver 501 is, for example, a GPS (Global Positioning System) receiver that measures the position of the vehicle using signals emitted from artificial satellites and receives a GNSS signal (for example, a GPS signal) indicating the measured position. The GNSS receiver 501 converts the received GNSS signal into positioning information including time information and outputs the converted positioning information to the CPU 504. When verifying the operation of the test target 5, the GNSS receiver 501 also receives a simulated GNSS signal from the signal distributor 3 and outputs the simulated GNSS signal to the CPU 504.

[0021] The vehicle signal receiving device 502 receives vehicle signals such as vehicle speed pulses and CAN information from the vehicle via the vehicle harness and outputs the received vehicle signals to the CPU 504. In addition, when verifying the operation of the test target 5, the vehicle signal receiving device 502 receives a simulated vehicle signal from the navigation simulator HW4 and outputs the received simulated vehicle signal to the CPU 504.

[0022] The car navigation system built-in sensor 503 detects the rotation, tilt, acceleration, and other movements of the vehicle. The car navigation system built-in sensor 503 outputs a car navigation system built-in sensor signal indicating information corresponding to the detected movement to the CPU 504. For example, the car navigation system built-in sensor 503 outputs an angular velocity signal when it detects the rotation of the vehicle, and an acceleration signal when it detects the acceleration of the vehicle. In this embodiment, the car navigation system built-in sensor 503 has an acceleration sensor 503a that detects the acceleration and tilt of the vehicle, and a gyro sensor 503b that detects the rotation of the vehicle.

[0023] The storage device 505 stores various information used for car navigation (e.g., position information, time information, vehicle signals, sensor signals). The display device 506 displays route guidance information related to route guidance by car navigation. The input device 507 inputs various information such as a destination for car navigation. The communication device 508 controls communication between external devices and the test subject 5.

[0024] The CPU 504 performs calculations related to car navigation (e.g., route search) based on the GNSS signal output from the GNSS receiver 501, the vehicle signal output from the vehicle signal receiver 502, the car navigation built-in sensor signal output from the car navigation built-in sensor 503, etc. When verifying the operation of the test target 5, the CPU 504 performs calculations related to car navigation based on the simulated GNSS signal received by the GNSS receiver 501, the simulated vehicle signal received by the vehicle signal receiver 502, and the simulated sensor signal input from the navigation simulator HW4 via a dedicated signal line.

[0025] 2 is a diagram showing an example of the functional configuration of the navigation simulator HW according to this embodiment. Next, an example of the functional configuration of the navigation simulator HW4 according to this embodiment will be described with reference to FIG.

[0026] As shown in FIG. 2, the navigation simulator HW4 according to this embodiment includes an external IF 401, a vehicle signal output circuit 402, a sensor signal output circuit 403, a simulator built-in sensor 404, and a CPU 405.

[0027] The external IF 401 includes, for example, a GNSS antenna connector, a vehicle IF, a power connector, a GNSS receiver IF, and an SD card slot. Here, the GNSS antenna connector is connected to a GNSS antenna. The vehicle IF acquires the vehicle's speed pulse, CAN information, reverse, illumination, parking, and the like. The power connector supplies power to the navigation simulator HW4 from, for example, the vehicle's cigarette lighter power supply or power AC adapter. The GNSS receiver IF is connected to a GNSS receiver built into the navigation simulator HW4. The SD card slot is a slot to which a storage unit such as an SD card for storing various information such as actual vehicle driving test log data can be connected.

[0028] The vehicle signal output circuit 402 outputs a simulated vehicle signal to the test subject 5. The sensor signal output circuit 403 outputs a simulated sensor signal to the test subject 5. The simulator built-in sensor 404 includes an acceleration sensor, a gyro sensor, etc., and detects motion information such as the angular velocity and acceleration of the vehicle, and outputs a simulator built-in sensor signal indicating the detected motion information to the CPU 405.

[0029] The CPU 405 includes a data logging function unit 405a and an emulation function unit 405b. The data logging function unit 405a acquires GNSS signals acquired by the external IF 401 and stores the acquired GNSS signals in NMEA format on an SD card. Here, the external IF 401 that acquires the GNSS signals is, for example, a GNSS receiver IF. The data logging function unit 405a also acquires, for example, vehicle speed pulses and CAN information acquired by the external IF 401. Here, the external IF 401 that acquires the vehicle speed pulses and CAN information is, for example, a vehicle IF. The data logging function unit 405a also calculates vehicle speed based on the vehicle speed pulses and stores vehicle signals such as the vehicle speed and CAN information on the SD card. The data logging function unit 405a also acquires simulator-integrated sensor signals output from the simulator-integrated sensor 404 and stores them on the SD card. That is, in this embodiment, the SD card functions as an example of a storage unit that stores actual vehicle driving test log data including the simulator-integrated sensor signals.

[0030] The emulation function unit 405b acquires a navigation simulator scenario from the PC 1 (an example of an external information processing device). Here, the simulator scenario includes a simulator-integrated sensor signal included in the actual vehicle driving test log data, or includes a virtual sensor signal as the simulator-integrated sensor signal. The emulation function unit 405b also generates a simulated sensor signal based on the simulator-integrated sensor signal or virtual sensor signal included in the navigation simulator scenario. The simulated sensor signal is a signal that emulates an electrical signal required for car navigation in the test target 5. Specifically, the emulation function unit 405b generates a simulated sensor signal that emulates a car navigation-integrated sensor signal output by the car navigation-integrated sensor 503 based on the simulator-integrated sensor signal or virtual sensor signal included in the navigation simulator scenario. Here, the simulated sensor signal may be, for example, a signal obtained by converting the simulator-integrated sensor signal or virtual sensor signal into the format of the car navigation-integrated sensor signal output by the car navigation-integrated sensor 503. Furthermore, the emulation function unit 405b generates a simulated vehicle signal that emulates the vehicle signal of the vehicle based on the vehicle signal included in the navigation simulator scenario.

[0031] This allows the sensor signals required for operational verification of the test object 5 to be electrically reproduced, making it possible to perform operational verification of the test object 5 (for example, playback of actual driving logs, advance verification before actual driving on site, and verification of driving routes that are not possible in reality, such as reverse driving). Here, actual driving means driving an actual vehicle. Furthermore, operational verification of the test object 5 can be performed without using large machinery such as a turntable.

[0032] 3 is a diagram showing an example of the functional configuration of a PC according to this embodiment. Next, an example of the functional configuration of the PC 1 according to this embodiment will be described with reference to FIG.

[0033] The PC1 according to this embodiment includes a CPU, ROM, RAM, a communication device, etc. The communication device controls communication with external devices such as the navigation simulator HW4. The ROM stores various programs such as the traveling data generation software. The RAM is a work area when the CPU executes various programs such as the traveling data generation software. The CPU uses the RAM as a work area to execute the traveling data generation software stored in the ROM, thereby realizing a scenario generation unit 101a, a log monitoring unit 101b, a scenario converter 101c, and a scenario playback unit 101d, as shown in FIG. 3.

[0034] The scenario generation unit 101a is an example of a generation unit that generates virtual driving route data. In this embodiment, the scenario generation unit 101a generates a driving route along which a vehicle will virtually travel using a dedicated map application. Then, based on the generated driving route, the scenario generation unit 101a generates virtual driving route data including vehicle position information, vehicle signals, sensor signals, etc., when the vehicle virtually travels along the driving route. The virtual driving route data includes, for example, a GNSS signal indicating the vehicle's position information. Hereinafter, the GNSS signal indicating the position information and the position information itself may be described without distinction.

[0035] For example, the scenario generation unit 101a uses a map application to acquire the latitude and longitude of a driving route along which the operation of the test object 5 will be verified. Next, the scenario generation unit 101a creates, by authoring, a driving route along which the operation of the test object 5 will be verified, based on the acquired latitude and longitude. Next, the scenario generation unit 101a uses physical calculations to generate, as virtual driving route data, vehicle position information, vehicle signals, sensor signals, and the like, which are obtained when a vehicle model is made to travel along the created driving route.

[0036] The log monitoring unit 101b is an example of an acquisition unit that acquires actual vehicle driving test log data (in other words, actual driving logs) from a storage unit such as an SD card connected to the navigation simulator HW 4. The scenario converter 101c converts simulator built-in sensor signals included in the actual vehicle driving test log data acquired by the log monitoring unit 101b into actual vehicle driving test log data expressed in physical quantities.

[0037] The scenario playback unit 101d is an example of a playback unit that plays back a navigation simulator scenario that includes virtual sensor signals included in the virtual driving route data or simulator built-in sensor signals included in the actual vehicle driving test log data. The scenario playback unit 101d also functions as an example of an output unit that outputs the played back navigation simulator scenario to the navigation simulator HW4.

[0038] Furthermore, the scenario reproduction unit 101d calculates a conversion rotation matrix according to the mounting angle of the car-navigation-integrated sensor 503. Specifically, the conversion rotation matrix is ​​a rotation matrix that converts the virtual sensor signal included in the virtual driving route data or the simulator-integrated sensor signal included in the actual vehicle driving test log data into a sensor signal corresponding to the coordinate system specific to the car-navigation-integrated sensor 503. Then, the scenario reproduction unit 101d multiplies the virtual sensor signal included in the virtual driving route data or the simulator-integrated sensor signal included in the actual vehicle driving test log data by the calculated conversion rotation matrix. In this way, the scenario reproduction unit 101d converts the virtual sensor signal or the simulator-integrated sensor signal into a sensor signal corresponding to the coordinate system specific to the car-navigation-integrated sensor 503.

[0039] Furthermore, the scenario reproducing unit 101d multiplies the virtual sensor signal or the simulator's built-in sensor signal multiplied by the conversion rotation matrix by a conversion formula corresponding to the sensitivity coefficient of the car navigation system built-in sensor 503 mounted on the test subject 5. Then, the scenario reproducing unit 101d reproduces a navigation simulator scenario including the simulator's built-in sensor signal or the virtual sensor signal multiplied by the conversion formula.

[0040] 4 is a flowchart showing an example of the flow of the recording process of the actual vehicle running test log data in the information processing system according to this embodiment. Next, an example of the flow of the recording process of the actual vehicle running test log data in the information processing system according to this embodiment will be described with reference to FIG.

[0041] When the navigation simulator HW4 is mounted on a vehicle and the vehicle starts traveling along a predetermined travel route, the data logging function unit 405a of the navigation simulator HW4 acquires a simulator-internal sensor signal output from the simulator-internal sensor 404 at a predetermined period (for example, a fixed period) (step S411). Here, the simulator-internal sensor signal is a sensor signal expressed as a dimensionless quantity specific to the simulator-internal sensor 404. The simulator-internal sensor signal is expressed using, for example, the unit LSB.

[0042] Next, the data logging function unit 405a writes the acquired simulator-integrated sensor signal to a storage device such as an SD card without processing (step S412). Next, the data logging function unit 405a determines whether or not recording of the acquired simulator-integrated sensor signal (in other words, the driving log) is complete (step S413). The simulator-integrated sensor signal is included in the driving log. In the following, the simulator-integrated sensor signal and the driving log may be referred to without distinction. If the vehicle has not completed traveling along the predetermined driving route, the data logging function unit 405a determines that recording of the driving log is not complete (step S413: No), returns to step S411, and continues acquiring the simulator-integrated sensor signal from the simulator-integrated sensor 404.

[0043] On the other hand, if the vehicle has completed traveling along the preset travel route, the data logging function unit 405a determines that recording of the travel log has been completed (step S413: Yes), and generates actual vehicle travel test log data including the simulator's built-in sensor signal written to the SD card (step S414). The actual vehicle travel test log data is an example of a travel log file. In this embodiment, the actual vehicle travel test log data is binary data in which the simulator's built-in sensor signal output from the simulator's built-in sensor 404 is directly described.

[0044] The log monitoring unit 101b of the PC 1 acquires the actual vehicle driving test log data from the SD card connected to the navigation simulator HW 4, converts the simulator's built-in sensor signals included in the actual vehicle driving test log data into sensor signals expressed in physical quantities (step S415), and completes the actual vehicle driving test log data (step S416). The physical quantities are quantities expressed in units of dps or g, for example.

[0045] Fig. 5 is a flowchart showing an example of the flow of the process of generating virtual travel route data in the information processing system according to this embodiment. Next, an example of the flow of the process of generating virtual travel route data in the information processing system according to this embodiment will be described with reference to Fig. 5.

[0046] The scenario generation unit 101a of the PC 1 first generates a driving route along which a vehicle will virtually travel using a dedicated application (step S511). Next, based on the generated driving route, the scenario generation unit 101a generates vehicle position information, vehicle signals, virtual sensor signals, etc. that would be obtained if the vehicle virtually traveled along the driving route (step S512). The virtual sensor signals include, for example, angular velocity expressed in units of dps and acceleration expressed in units of g. Then, the scenario generation unit 101a completes virtual driving route data that includes the generated position information, vehicle signals, virtual sensor signals, etc. (step S513).

[0047] For example, the scenario generation unit 101a causes a vehicle model to travel on a travel route generated by a dedicated application. At this time, the scenario generation unit 101a causes the vehicle model to travel in accordance with preset travel conditions (e.g., maximum speed, wheelbase, shift, acceleration / deceleration). Then, the scenario generation unit 101a generates vehicle position information, vehicle signals, virtual sensor signals, etc., every preset period (e.g., 100 ms).

[0048] Fig. 6 is a flowchart showing an example of the flow of the process of outputting a scenario for a navigation simulator in the information processing system according to this embodiment. Next, an example of the flow of the process of outputting a scenario for a navigation simulator in the information processing system according to this embodiment will be described with reference to Fig. 6.

[0049] The scenario playback unit 101d of the PC1 first selects a scenario to be used for playing back a navigation simulator scenario from among the actual vehicle driving test log data and the virtual driving route data (step S601). Hereinafter, the scenario to be used for playing back a navigation simulator scenario may be referred to as a simulation scenario. Next, the scenario playback unit 101d selects a parameter file corresponding to the test target 5 from parameter files stored in a storage unit such as the ROM 102 provided in the PC1 (step S602).

[0050] Here, the parameter file includes the sensitivity coefficient and mounting angle specific to the car navigation built-in sensor 503 mounted on the test subject 5. Next, the scenario reproducing unit 101d starts a simulation to reproduce the navigation simulator scenario (step S603).

[0051] Next, the scenario reproducing unit 101d calculates a conversion rotation matrix that converts the virtual sensor signals or the simulator's built-in sensor signals included in the selected simulation scenario into sensor signals corresponding to a coordinate system specific to the test object 5, based on the mounting angles included in the selected parameter file (step S604). Next, the scenario reproducing unit 101d acquires the virtual sensor signals or the simulator's built-in sensor signals included in the selected simulation scenario and expressed in physical quantities (step S605). For example, the scenario reproducing unit 101d acquires the virtual sensor signals or the simulator's built-in sensor signals corresponding to multiple axes (e.g., three axes: x, y, and z). The multiple axes correspond to the coordinate system used when motion information such as angular velocity and acceleration is detected by the car navigation system's built-in sensor 503.

[0052] Then, the scenario reproducing unit 101d multiplies the calculated conversion rotation matrix by the acquired virtual sensor signal or simulator's built-in sensor signal. As a result, the scenario reproducing unit 101d performs coordinate conversion of the virtual sensor signal or simulator's built-in sensor signal included in the selected simulation scenario into a sensor signal corresponding to the coordinate system specific to the car navigation system's built-in sensor 503 (step S606).

[0053] Next, the scenario reproducing unit 101d multiplies the coordinate-converted virtual sensor signal or the simulator's built-in sensor signal by a conversion formula corresponding to the sensitivity coefficient specific to the car navigation built-in sensor 503. The conversion formula is included in, for example, a parameter file. The scenario reproducing unit 101d reproduces a navigation simulator scenario including the dimensionless sensor signal converted by the multiplication (step S607). Thereafter, the scenario reproducing unit 101d outputs the reproduced navigation simulator scenario to the navigation simulator HW4.

[0054] The emulation function unit 405b of the navigation simulator HW4 emulates a simulated sensor signal based on the virtual sensor signal or the simulator's built-in sensor signal, and outputs it to the test target 5 (step S608). The virtual sensor signal or the simulator's built-in sensor signal is included in the navigation simulator scenario input from the PC1. The simulated sensor signal is an electrical signal necessary for car navigation in the test target 5. Thereafter, the scenario playback unit 101d of the PC1 determines whether playback of the navigation simulator scenario for the preset driving route has ended (step S609).

[0055] In this embodiment, the navigation simulator HW4 has a register having the same memory address as the car-navigation-integrated sensor 503 of the test target 5. The navigation simulator HW4 may be able to set the same memory address as the car-navigation-integrated sensor 503 in the register as follows. For example, a parameter file has register map information for the test target 5. By expanding the register map information in the memory area of ​​the navigation simulator HW4 during simulation execution, even if the test target 5 changes, the navigation simulator HW4 can set the same memory address as the car-navigation-integrated sensor 503 in the register. This allows the emulation function unit 405b to read out a simulated sensor signal corresponding to the requested sensor signal from the register in response to a sensor signal request from the test target 5 and output it to the test target 5. As a result, the test target 5 can acquire the simulated sensor signal more quickly than when the test target 5 acquires the sensor signal from the PC 1, thereby enabling operation verification of the test target 5 to be performed under conditions that are closer to actual driving.

[0056] If the playback of the navigation simulator scenario has finished (step S609: Yes), the scenario playback unit 101d ends the playback of the navigation simulator scenario. On the other hand, if the playback of the navigation simulator scenario has not finished (step S609: No), the scenario playback unit 101d returns to step S605.

[0057] 7 to 9 are diagrams for explaining an example of a playback process of a navigation simulator scenario in the information processing system according to this embodiment. Next, an example of a playback process of a navigation simulator scenario in the information processing system according to this embodiment will be explained using FIGS.

[0058] As shown in FIG. 7 , the car navigation system built-in sensor 503 and the simulator built-in sensor 404 may have different x-, y-, and z-axis assignments and mounting angles. Therefore, in this embodiment, the PC 1 defines the coordinate system of the simulator built-in sensor 404 as a base coordinate system, and the coordinate system of the car navigation system built-in sensor 503 as a local coordinate system. The PC 1 then stores, in a storage unit such as a ROM, a parameter file indicating the rotation angle (e.g., 180 degrees around the x-axis, 0 degrees around the y-axis, and −90 degrees around the z-axis; examples of mounting angles) of the local coordinate system for each type of car navigation system built-in sensor 503, with the base coordinate system as the reference. The PC 1 also stores, in a ROM or the like, a parameter file indicating the sensitivity coefficient for each type of car navigation system built-in sensor 503, with the sensitivity coefficient of the simulator built-in sensor 404 as the reference.

[0059] Then, as shown in FIG. 8, the scenario reproducing unit 101d performs coordinate transformation on the acceleration (Ax, Ay, Az) and angular velocity (Ωx, Ωy, Ωz) detected by the simulator built-in sensor 404 using a rotation matrix to obtain the acceleration a in the local coordinate system of the car navigation built-in sensor 503. sensоr and angular velocity ω sensоr Here, both the acceleration and angular velocity are represented by a matrix with 3 rows and 1 column. For example, if the local coordinate system of the simulator's built-in sensor 404 is a coordinate system rotated 90 degrees around the z-axis of the basic coordinate system, the scenario reproducing unit 101d performs coordinate conversion on the acceleration A (0.2, 0.3, 0.5) detected by the simulator's built-in sensor 404 using the rotation matrix shown in FIG. 9. As a result, the scenario reproducing unit 101d converts the acceleration a (0.2, 0.3, 0.5) detected by the simulator's built-in sensor 404 into the acceleration a (0.2, 0.3, 0.5) in the local coordinate system, where the x-axis and y-axis values ​​are swapped. sensоrThe scenario reproducing unit 101d calculates (-0.3, 0.2, 0.5) for the angular velocity Ω in the local coordinate system in the same way. sensоr Transform the coordinates to

[0060] As described above, the information processing system according to this embodiment can electrically reproduce the sensor signals required for operational verification of the test object 5, and therefore can perform operational verification of the test object 5 (for example, playback of actual driving logs, advance verification before actual driving on site, and verification of driving routes that are impossible in reality, such as reverse driving). Furthermore, operational verification of the test object 5 can be performed without using large machinery such as a turntable.

[0061] The programs executed by PC1 in this embodiment (for example, programs that realize the scenario generation unit 101a, log monitoring unit 101b, scenario converter 101c, and scenario playback unit 101d) are provided as files in an installable or executable format recorded on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disk).

[0062] The program executed by the PC 1 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.The program executed by the PC 1 of this embodiment may be provided or distributed via a network such as the Internet.

[0063] The program executed by the PC 1 of this embodiment may be provided in a state that it is pre-installed in a ROM or the like.

[0064] The programs executed by the navigation simulator HW4 of this embodiment (for example, programs that realize the data logging function unit 405a and the emulation function unit 405b) are provided by being pre-installed in a ROM or the like. The programs executed by the navigation simulator HW4 of this embodiment may be provided by being recorded in an installable or executable format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD.

[0065] Furthermore, the program executed by the navigation simulator HW4 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the program executed by the navigation simulator HW4 of this embodiment may be provided or distributed via a network such as the Internet.

[0066] In addition, the information processing method executed by PC1 of the information processing system according to this embodiment includes the steps of: a generation unit generating a virtual driving scenario including virtual sensor signals indicating motion information detected by a simulator-integrated sensor mounted in the navigation simulator when a vehicle virtually drives along a predetermined driving route; an acquisition unit acquiring a driving log file including simulator-integrated sensor signals indicating motion information detected by the simulator-integrated sensor when the vehicle drives along the driving route; a playback unit playing back a test scenario including the virtual sensor signals included in the virtual driving scenario or the simulator-integrated sensor signals included in the driving log file; and an output unit outputting the test scenario played back by the playback unit to the navigation simulator.

[0067] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0068] 1 PC 2. GNSS Simulator 3 Signal splitter 4 Navigation Simulator HW 5 Test Subjects 101a Scenario generation section 101b Log monitoring section 101c Scenario Converter 101d Scenario Playback Section 401 External IF 402 Vehicle signal output circuit 403 Sensor signal output circuit 404 Simulator built-in sensor 405 CPU 405a Data logging function section 405b Emulation function unit 501 GNSS receiver 502 Vehicle signal receiving device 503 Car navigation built-in sensor 503a Acceleration Sensor 503b Gyro sensor 504 CPU 505 Storage device 506 Display device 507 Input Device 508 Communication Equipment

Claims

1. an acquisition unit that acquires a test scenario including a sensor signal built into the simulator from an external device; an emulation function unit that generates a simulated sensor signal that emulates a sensor signal built into the car navigation system based on the simulator's built-in sensor signal included in the test scenario; an output unit that outputs the simulated sensor signal generated by the emulation function unit to a car navigation system; a data logging function unit that stores a driving log file including the simulator's built-in sensor signals in a storage unit; Equipped with the simulator-integrated sensor signal indicates motion information detected by a simulator-integrated sensor mounted in a navigation simulator when the vehicle travels along a predetermined travel route; the simulator-built-in sensor signal represents motion information detected by the simulator-built-in sensor as a dimensionless quantity; the car navigation system built-in sensor signal indicates motion information detected by a car navigation system built-in sensor mounted in the car navigation system; Navigation simulator.

2. 2. The navigation simulator according to claim 1, wherein the test scenario includes the simulator-integrated sensor signal included in the driving log file, or a virtual sensor signal output from the simulator-integrated sensor when the vehicle virtually travels along the preset driving route.

3. An information processing system having a navigation simulator and an information processing device, The information processing device includes: a generating unit for generating a virtual driving scenario including a virtual sensor signal; an acquisition unit that acquires a driving log file including signals from sensors built into the simulator; a playback unit that plays back a test scenario including the virtual sensor signal included in the virtual driving scenario or the simulator built-in sensor signal included in the driving log file; an output unit that outputs the test scenario played back by the playback unit to a navigation simulator, the virtual sensor signal indicates motion information detected by a simulator-integrated sensor mounted on the navigation simulator when a vehicle virtually travels along a predetermined travel route, the simulator-integrated sensor signal indicates motion information detected by the simulator-integrated sensor when the vehicle travels along the travel route; The navigation simulator includes: an acquisition unit that acquires the test scenario from the information processing device; an emulation function unit that generates a simulated sensor signal that emulates a sensor signal built into the car navigation system based on the simulator built-in sensor signal or the virtual sensor signal included in the test scenario; an output unit that outputs the simulated sensor signal generated by the emulation function unit to a car navigation system; Equipped with the car navigation system built-in sensor signal indicates motion information detected by a car navigation system built-in sensor mounted in the car navigation system; Information processing system.

4. The acquisition unit of the information processing device converts the simulator built-in sensor signal included in the driving log file into a sensor signal expressed in a physical quantity, the generation unit generates the virtual driving scenario including the virtual sensor signal expressed by a physical quantity; 4. The information processing system according to claim 3, wherein the playback unit multiplies the virtual sensor signal included in the virtual driving scenario or the simulator-integrated sensor signal included in the driving log file by a conversion rotation matrix corresponding to an installation angle of a car navigation system-integrated sensor, multiplies the simulator-integrated sensor signal or the virtual sensor signal multiplied by the conversion rotation matrix by a conversion equation corresponding to a sensitivity coefficient of the car navigation system-integrated sensor, and plays back the test scenario including the simulator-integrated sensor signal or the virtual sensor signal multiplied by the conversion equation.

5. Computer, a generating unit for generating a virtual driving scenario including a virtual sensor signal; a first acquisition unit that acquires a driving log file including a signal from a sensor built into the simulator; a playback unit that plays back a test scenario including the virtual sensor signal included in the virtual driving scenario or the simulator built-in sensor signal included in the driving log file; a first output unit that outputs the test scenario played back by the playback unit; a second acquisition unit that acquires the test scenario from the first output unit; an emulation function unit that generates a simulated sensor signal that emulates a sensor signal built into the car navigation system based on the simulator built-in sensor signal or the virtual sensor signal included in the test scenario; a second output unit that outputs the simulated sensor signal generated by the emulation function unit to a car navigation system; A program for making the device function as a the virtual sensor signal indicates motion information detected by a simulator-integrated sensor mounted on the navigation simulator when a vehicle virtually travels along a predetermined travel route; the simulator-integrated sensor signal indicates motion information detected by the simulator-integrated sensor when the vehicle travels along the travel route; the car navigation system built-in sensor signal indicates motion information detected by a car navigation system built-in sensor mounted in the car navigation system; program.

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