Driving simulator

Abstract

To provide a driving simulator that calculates a correction value for a sight line direction when a user is gazing at a gazed object and is in a driving simulation posture.SOLUTION: A driving simulator includes: an operation part for inputting an operation by user; a display part; an imaging part; a detection part for detecting direction of user's sight line based on an image including user's eye taken by the imaging part; a position calculation part for calculating user's gaze position in the display part based on the direction of the user's sight line detected by the detection part; a display control part for displaying a moving gazed object on the display part and displaying a moving marker based on the user's operation of the operation part on the display part; and a correction value calculation part for calculating a correction value for the direction of the user's sight line based on the user's gaze position calculated by the position calculation part and the position of the gazed object in the display part when the marker and the gazed object overlap. The direction of the user's sight line is corrected using the correction value.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a driving simulator. [Background technology]

[0002] 2. Description of the Related Art Conventionally, driving simulators that simulate driving and movement of a moving object such as an automobile have been used in driving lessons for moving objects.

[0003] The driving simulation device includes a driver's seat in which a user sits, a steering wheel and other components operated by the user, and a display device that displays the scenery that will be visible from the driver's seat.

[0004] The scenery displayed on the display device is generated based on a simulated driving scenario. A user of the driving simulator receives training in driving a moving object such as a car while viewing the simulated field of view image displayed on the display device.

[0005] The driving simulation device may determine the user's gaze position within the simulated visual field image by detecting the direction of the user's line of sight, and thereby determine the user's state of simulated driving.

[0006] The direction of a user's gaze is detected based on an image including the user's eyes. Methods for detecting the direction of a user's gaze include, for example, the corneal reflex method and the ocular center method. These methods use a predetermined model to detect the direction of gaze, so they do not necessarily accurately estimate the direction of gaze of each individual user.

[0007] Therefore, when a user uses a driving simulation device, calibration is first performed to detect the difference between the user's correct gaze direction and the gaze direction estimated using a specified model, and a correction value is calculated to determine the correct gaze direction (see, for example, Patent Document 1).

[0008] In the calibration of the gaze direction, for example, a correction value for the user's gaze direction is calculated while the user is gazing at a point or a circle (gaze target) displayed on the screen of the display device. Then, the driving simulator accurately detects the user's gaze direction by correcting the gaze direction. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Special Publication No. 2016-139850 Summary of the Invention [Problem to be solved by the invention]

[0010] However, the calibration does not always obtain a correct correction value for the gaze direction. A dot or a circle displayed on the screen of a display device is not a strong visual stimulus, and there is a risk that the user will involuntarily look away when an image is captured.

[0011] Furthermore, since the user adjusts their posture during the calibration operation, there is a risk that the calibration will be performed in a state that is different from the posture in which the user actually performs the simulated driving.

[0012] If the correction value is calculated when the user is not gazing at the object being looked at, or when the user is in a posture different from that in which the simulated driving actually takes place, using this correction value may not accurately estimate the direction of the user's gaze.

[0013] Therefore, an object of the present invention is to provide a driving simulation device that can obtain a correction value for the direction of the line of sight when the user is gazing at an object to be watched and is in a posture for performing a driving simulation. [Means for solving the problem]

[0014] According to one embodiment, there is provided a driving simulator that simulates the movement of a moving object based on a user's operation, the driving simulator including: an operation unit that inputs the user's operation; a display unit; a photographing unit; a detection unit that detects the direction of the user's gaze based on an image including the user's eyes captured by the photographing unit; a position calculation unit that calculates the user's gaze position on the display unit based on the direction of the user's gaze detected by the detection unit; a display control unit that displays a moving gaze target on the display unit and a marker that moves based on the user's operation of the operation unit; and a correction value calculation unit that calculates a correction value for the user's gaze direction based on the user's gaze position calculated by the position calculation unit and the position of the gaze target on the display unit when the marker and the gaze target overlap; [Effects of the Invention]

[0015] According to the driving simulation device disclosed in the present specification, a correction value for the direction of the line of sight can be obtained when the user is gazing at the target and in a posture for performing a driving simulation. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1A is a diagram showing a driving simulation device according to the present embodiment, and FIG. 1B is an enlarged view of a main part. [Figure 2] 1A to 1C are diagrams illustrating an outline of the operation of the driving simulator of this embodiment. [Figure 3] FIG. 2 is a schematic diagram of a control device. [Figure 4] 10 is an example of an operational flowchart of a gaze position calculation process. [Figure 5] FIG. 10A is a diagram for explaining how to determine a gaze position, and FIG. 10B is a diagram for explaining how to determine a correction value. [Figure 6] 10 is an example of an operational flowchart of a correction process. [Figure 7]FIG. 10 is a diagram illustrating a correction process. [Figure 8] 10 is an example of an operational flowchart of a target display process. DETAILED DESCRIPTION OF THE INVENTION

[0017] An outline of the operation of a driving simulator 1 including a control device 10 of this embodiment will be described below with reference to Figures 1 and 2. Figure 1(A) is a diagram showing the driving simulator of this embodiment, and Figure 1(B) is an enlarged view of the main parts. Figures 2(A) to 2(C) are diagrams explaining the outline of the operation of the driving simulator of this embodiment.

[0018] The driving simulator 1 simulates the movement of a standard automobile as a moving object. The driving simulator 1 provides an environment for a user seated in a driver's seat 2 so that the user can operate a steering wheel 4 and the like, to simulate driving an automobile by displaying a simulated field of view image on a display device 3. The driving simulator 1 may also be a device that simulates the movement of moving objects including a standard motorcycle, a railroad vehicle, or an aircraft.

[0019] The control device 10 calculates the motion of a standard automobile that is simulated to be driven by a user, based on operation signals input from the steering wheel 4, etc. The control device 10 also calculates the motion of people or other vehicles moving within the scenery that can be seen from the driver's seat 2 where the user is seated. Then, based on the scenario of the simulated driving lesson, the control device 10 generates a simulated field of view image of the scenery that will be seen from the driver's seat 2 where the user is seated, and displays it on the display device 3.

[0020] The control device 10 uses the camera 5 to capture a facial image including the user's eyes, and detects the direction of the user's gaze based on this facial image. Then, by detecting the direction of the user's gaze, the control device 10 determines the gaze position within the simulated field of view image and determines the state of the user's simulated driving.

[0021] The control device 10 estimates the gaze direction of a user using a predetermined model based on a facial image. However, the gaze direction estimated using the predetermined model does not necessarily accurately represent the gaze direction of each individual user.

[0022] Therefore, when a user uses the driving simulation device, the control device 10 first performs calibration and calculates a correction value for the user for the gaze direction (hereinafter also referred to as the first gaze direction) detected using a predetermined model.The control device 10 then uses this correction value to correct the first gaze direction and calculates the second gaze direction.The control device 10 uses the second gaze direction to calculate the gaze position within the simulated field of view image and determine the user's state of simulated driving.

[0023] Next, an outline of the operation of the control device 10 to perform calibration and obtain a correction value for the direction of the line of sight will be described below.

[0024] As shown in Fig. 1(B), when starting calibration, the user is seated in the driver's seat 2 and holds the steering wheel 4 with both hands, so that the user is in a position that allows the user to simulate driving a standard automobile. That is, the user assumes a position similar to that when performing a simulated driving.

[0025] 2(A) to 2(C) show a screen 300 of the display device 3. First, as shown in FIG. 2(A), the control device 10 displays a target T as a gaze object on the display device 3, and also displays a marker M on the display device 3. An automobile is an example of the target T. The marker M moves on the screen of the display device 3 based on the operation of the steering wheel 4 by the user. The control device 10 displays a screen 300 on the display device 3 that includes a notification saying, "Please follow the automobile with the steering wheel." The marker M moves left and right on the screen 300 based on the operation of the steering wheel 4 by the user.

[0026] 2(B), the control device 10 displays, for example, a target T on the display device 3 so that it moves from the right side to the left side of the screen. While gazing at the target T displayed on the screen 300, the user operates the handle 4 with both hands to the left so that the marker M catches up with the target T.

[0027] Next, as shown in Fig. 2(C), when the marker M and the target T overlap, the control device 10 displays visual information indicating that the marker M has overlapped with the target T at the position where the marker M overlaps with the target T. In the example shown in Fig. 2(C), the visual information is that the inside of the marker M is displayed in a brighter color than before.

[0028] When the marker M and the target T overlap, it is considered that the user is gazing at the target T and the marker M displayed on the screen 300. In addition, since the user is operating the steering wheel 4 with both hands so that the marker M catches up with the target T, it is considered that the user is in a position to actually perform a simulated driving.

[0029] When the marker M and the target T overlap, the control device 10 calculates a correction value for the direction of the user's line of sight based on the user's gaze position on the display device 3 and the position of the target T on the display device 3.

[0030] During the simulated driving, the control device 10 determines the user's gaze position on the screen 300 displaying the simulated visual field image, based on the direction of the user's line of sight corrected using the correction value.

[0031] The control device 10 of the present embodiment described above can obtain a correction value for the direction of the line of sight when the user is gazing at a gaze object and is in a posture in which the user actually performs a simulated driving.

[0032] As shown in FIG. 1, the driving simulator 1 includes a driver's seat 2 in which a user sits, a display device 3, a steering wheel 4 as an operating unit, an accelerator pedal and a brake pedal (not shown), a camera 5, a control device 10, etc.

[0033] Camera 5 is an example of an imaging unit and includes a two-dimensional detector configured with an array of photoelectric conversion elements, such as a CCD or C-MOS, that are sensitive to visible light or infrared light, and an imaging optical system that forms an image of the area to be photographed on the two-dimensional detector. Camera 5 also includes a light source (not shown), such as an infrared LED, for illuminating the user. Camera 5 is mounted, for example, on the instrument panel facing the user so that the head of the user seated in driver's seat 2 is included in the area to be photographed, i.e., so that the user's head can be photographed. Camera 5 photographs the user's head at predetermined photographing intervals (e.g., 1 / 30 to 1 / 10 seconds) and generates a facial image that includes the user's head. The facial image obtained by camera 5 may be a color image or a grayscale image. Each time camera 5 generates a facial image, it outputs the generated facial image to control device 10.

[0034] 3 is a schematic configuration diagram of the control device 10. The control device 10 executes detection processing, position calculation processing, control processing, correction value calculation processing, and simulation calculation processing. To this end, the control device 10 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication IF 21 has interface circuits for connecting the control device 10 to the display device 3, the steering wheel 4, the camera 5, the accelerator pedal, the brake pedal, etc.

[0035] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores computer programs and data used to detect the gaze direction and determine the gaze position on the screen, as well as computer programs and data used to calculate the correction value.

[0036] The processor 23 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 23 may further include other arithmetic circuits, such as a logic unit, a numerical calculation unit, or a graphics processing unit. The processor 23 includes a detection unit 31, a position calculation unit 32, a control unit 33, a correction value calculation unit 34, and a simulation calculation unit 35. All or part of the functions of the control device 10 are functional modules implemented by, for example, a computer program running on the processor 23. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The simulation calculation unit 35 calculates the motion of the vehicle and the motion of people or other vehicles moving through a landscape based on the user's operation of the steering wheel 4, etc., and generates a simulated field of view image. Other operations of the processor 23 will be described later with reference to the accompanying drawings.

[0037] 4 is an example of an operational flowchart of the gaze position calculation process. The gaze position calculation process in the control device 10 will be described below with reference to FIG. 4. The control device 10 executes the gaze position calculation process every time a face image is input from the camera 5.

[0038] First, the detection unit 31 detects the eyes from a facial image including the user's eyes captured by the camera 5 (step S101). For example, the detection unit 31 inputs the facial image into a classifier that has been trained in advance to detect human eyes from an image, thereby detecting an area in the facial image where the driver's eyes are captured. The detection unit 31 can use, for example, a deep neural network (DNN) having a convolutional neural network (CNN) architecture or an AdaBoost classifier as such a classifier.

[0039] Next, the detection unit 31 detects the direction of the driver's gaze from the facial image (step S102). The detection unit 31 detects a corneal reflection image of a light source (also called a Purkinje image) and a centroid of a pupil (hereinafter simply called a pupil centroid) from an area surrounded by the upper eyelid and the lower eyelid (hereinafter called an eye area) for at least one of the driver's left and right eyes shown on the facial image. In this case, the detection unit 31 detects the Purkinje image by, for example, template matching between a Purkinje image template and the eye area. Similarly, the detection unit 31 may detect the pupil by template matching between a pupil template and the eye area, and use the centroid of the area where the detected pupil is shown as the pupil centroid. Note that the detection unit 31 may detect the Purkinje image and the pupil centroid using another method for detecting the Purkinje image and the pupil centroid from the eye area. The detection unit 31 then calculates the distance between the Purkinje image and the pupil center, and detects the direction of the driver's gaze by referring to a table that represents the relationship between the distance and the direction of the driver's gaze. Such a table may be stored in advance in the memory 22. The table that represents the relationship between the distance between the Purkinje image and the pupil center and the direction of the driver's gaze may be generated based on, for example, a model of a representative human face and an eyeball model.

[0040] The line L representing the direction of the driver's line of sight is expressed, for example, in an apparatus coordinate system having an origin at a predetermined position on the driving simulator 1 (see FIG. 5(A)). In the apparatus coordinate system, the predetermined position on the driving simulator 1 is used as the origin Os, the Ys axis is set in the direction in front of the user seated in the driver's seat 2, the Xs axis is set in a direction perpendicular to the Ys axis and parallel to the ground, and the Zs axis is set in the vertical direction.

[0041] Next, the position calculation unit 32 determines the user's gaze position on the screen of the display device 3 based on the direction of the user's gaze detected by the detection unit 31 (step S103), and ends the series of processes. By determining the user's gaze position on the screen of the display device 3, the user's gaze position in the simulated visual field image displayed on the screen is obtained.

[0042] Here, when a correction value for the direction of the user's gaze has been obtained, the position calculation unit 32 obtains a second gaze direction obtained by correcting the first gaze direction detected by the detection unit 31 with the correction value, and calculates the user's gaze position on the screen of the display device 3 based on this second gaze direction. On the other hand, when a correction value for the direction of the user's gaze has not been obtained, the position calculation unit 32 obtains the user's gaze position on the screen of the display device 3 based on the first gaze direction detected by the detection unit 31.

[0043] 5(A) is a diagram for explaining how to calculate the gaze position. The position calculation unit 32 calculates the intersection of a plane representing the screen 300 of the display device 3 expressed in the device coordinate system and a line L representing the direction of the user's line of sight as the user's gaze position 301 on the screen 300 of the display device 3. The position calculation unit 32 then expresses this user's gaze position 301 in the screen coordinate system. In the screen coordinate system, the upper left point of the screen 300 of the display device 3 is set as the origin Oc, with the Xc axis extending rightward from the origin Oc and the Yc axis extending downward from the origin Oc. The user's gaze position 301 on the screen 300 is expressed as (xc, yc) in the screen coordinate system.

[0044] Fig. 6 is an example of an operational flowchart of the correction process. The correction process for determining a correction value for the direction of the user's line of sight in the control device 10 will be described below with reference to Fig. 6. The control device 10 normally executes the correction process in accordance with the operational flowchart shown in Fig. 6 before starting a simulated driving. Note that the control device 10 may also execute the correction process while the simulated driving is being performed.

[0045] FIG. 7 is a diagram illustrating the correction process. As shown in FIG. 7, the control device 10 obtains a correction value for the direction of the user's line of sight for each of a plurality of correction value acquisition positions P11 to P33 set on the screen 300 of the display device 3. The screen 300 of the display device 3 is divided into a plurality of correction value acquisition areas 311 to 333, and one correction value acquisition position is set for each of the plurality of correction value acquisition areas 311 to 333. In the example shown in FIG. 8, the screen 300 of the display device 3 is divided into nine correction value acquisition areas 311 to 333 in the vertical and horizontal directions. In the example shown in FIG. 7, the correction value acquisition positions P11 to P33 are set in the center of each of the correction value acquisition areas 311 to 333.

[0046] 6, steps S202 to S207 are executed for each of correction value acquisition positions P11 to P33. The order in which steps S202 to S207 are executed may be, for example, the center row in the Yc axis direction (P12, P22, P32), the rows in the positive direction in the Yc axis direction (P11, P21, P31), and the rows closer to the origin in the Yc axis direction (P13, P23, P33). It is preferable to start calibration first from the center position in the Yc axis direction on the screen 300 of the display device 3, as this will easily attract the user's attention.

[0047] First, the control unit 33 displays the target T on the screen 300 of the display device 3, and also displays the marker M on the screen 300 of the display device 3 (step S202). The control unit 33 is an example of a display control unit. For example, when the correction value acquisition position P12 is set to the center of the correction value acquisition area 312, the control unit 33 displays the target T in a correction value acquisition area (e.g., 322) that overlaps with the position of the correction value acquisition position P12 in the Yc-axis direction of the screen 300 and is different from the correction value acquisition area 312 that includes the correction value acquisition position P12 in the Xc-axis direction of the screen 300. Furthermore, the control unit 33 displays the marker M in a correction value acquisition area (e.g., 332) that overlaps with the position of the target T in the Yc-axis direction of the screen 300 and is different from the correction value acquisition area (e.g., 322) that includes the target T in the Xc-axis direction of the screen 300. Specifically, the target T is displayed in the center of the correction value acquisition area 322, and the marker M is displayed in the center of the correction value acquisition area 332. For other correction value acquisition positions, the target T and the marker M are displayed in the same way.

[0048] Then, the control unit 33 displays a notification "Please follow the car with the steering wheel" on the screen 300 of the display device 3 (see FIG. 2(A)). The user operates the steering wheel 4 with both hands so that the marker M catches up with the target T, so that the user assumes a posture for actually performing a simulated driving.

[0049] Next, the control unit 33 executes a target display process (step S203). Details of the target display process will be described later with reference to FIG.

[0050] Next, the control unit 33 displays the marker M, which moves based on the operation of the handlebar 4 by the user, on the screen 300 of the display device 3 (step S204). The user operates the handlebar 4 so that the marker M catches up with the target T. When the handlebar 4 is operated to rotate to the left, the control unit 33 moves the position of the marker M displayed on the screen 300 to the left based on the operation signal of the handlebar 4. When the handlebar 4 is operated to rotate to the right, the control unit 33 moves the position of the marker M displayed on the screen 300 to the right based on the operation signal of the handlebar 4.

[0051] Next, the control unit 33 determines whether the marker M and the target T overlap (step S205). The control unit 33 determines that the marker M and the target T overlap when the area on the screen 300 where the marker M is displayed overlaps with the area on the screen 300 where the target T is displayed. The area on the screen 300 where the target T is displayed and the area on the screen 300 where the marker M is displayed are each expressed in the screen coordinate system. For example, when the center of gravity of the area on the screen 300 where the target T is displayed overlaps with the area on the screen 300 where the marker M is displayed, the control unit 33 determines that the marker M and the target T overlap. At this time, it is considered that the user is gazing at the vicinity of the center of gravity of the target T.

[0052] If it is determined that the marker M and the target T overlap (step S205-Yes), the control unit 33 displays visual information indicating that the marker M overlaps the target T at the position where the marker M and the target T overlap (step S206). In the example shown in FIG. 2(C), the visual information is that the inside of the marker M is displayed in a brighter color than when the marker M and the target T do not overlap. This strengthens the visual stimulus, and can further encourage the user to focus on the target T.

[0053] Next, the correction value calculation unit 34 calculates a correction value for the direction of the user's gaze (first gaze direction) based on the user's gaze position calculated by the position calculation unit 32 and the position of the target T on the screen 300 of the display device 3 (step S207). The correction value calculation unit 34 calculates the correction value for the first gaze direction based on the difference between the user's gaze position expressed in the screen coordinate system and the position of the target T (for example, the position of the center of gravity).

[0054] Fig. 5(B) is a diagram for explaining how to obtain a correction value. In the example shown in Fig. 5(B), the correction value calculation unit 34 obtains a straight line L' by moving the end point of the straight line L, which represents the direction of the line of sight, from the user's gaze position 301 to the position 302 of the center of gravity of the target T, while keeping the start point of the straight line L fixed. Then, the correction value calculation unit 34 obtains, as the correction value, the amount of rotation required to move the straight line L to the position of the straight line L'.

[0055] When the left and right eyes of the user are detected in the face image, the correction value calculation unit 34 calculates a correction value for the direction of the line of sight for each of the left and right eyes of the user.

[0056] On the other hand, if it is determined that the marker M and the target T do not overlap (step S205-No), the control unit 33 moves the process to before step S203.

[0057] The control device 10 executes the processes of steps S202 to S207 for each of the correction value acquisition positions P11 to P33, and then ends the series of processes, thereby obtaining a correction value for each correction value acquisition region.

[0058] When a simulated driving is performed in the driving simulation device 1, the position calculation unit 32 first calculates a second gaze direction obtained by correcting the first gaze direction based on the correction value of the correction value acquisition area including the gaze position calculated based on the first gaze direction. Then, the position calculation unit 32 calculates the user's gaze position on the screen 300 of the display device 3 based on this second gaze direction. The simulation calculation unit 35 determines the user's state of simulated driving based on the user's gaze position in the simulated field of view image. For example, it is determined whether the user is gazing at a part in the simulated field of view image that should be gazed at.

[0059] Next, the above-mentioned target display processing will be described below with reference to Fig. 8. Fig. 8 is an example of an operational flowchart of the target display processing.

[0060] First, the control unit 33 determines whether the position of the target T coincides with the correction value acquisition position (step S301). For example, if the area on the screen 300 where the target T is displayed overlaps with the correction value acquisition position, the control unit 33 determines that the position of the target T coincides with the correction value acquisition position (step S301—Yes).

[0061] When the position of the target T coincides with the correction value acquisition position, the control unit 33 displays the target T on the screen 300 so that the center of gravity of the target T coincides with the correction value acquisition position (step S302), and ends the series of processes. Thereafter, for the current correction value acquisition position, the target T continues to be displayed at this correction value acquisition position.

[0062] On the other hand, if the area on the screen 300 where the target T is displayed does not overlap with the correction value acquisition position, the control unit 33 determines that the position of the target T does not match the correction value acquisition position (step S301-No).

[0063] If the position of the target T does not match the correction value acquisition position, the control unit 33 moves the position of the target T by a predetermined amount toward the correction value acquisition position, displays it on the screen 300 (step S303), and ends the series of processes.

[0064] In this way, the control unit 33 displays on the screen 300 of the display device 3 that the target T moves toward the correction value acquisition position and stops at the correction value acquisition position.

[0065] As shown in Fig. 2(B), the control unit 33 may display the target T on the screen 300 of the display device 3 so that it moves in the Xc-axis direction of the screen 300, and may also display the target T on the screen 300 so that it moves in the Yc-axis direction. In the example shown in Fig. 2(B), the target T, which is a car, is displayed as if it is running while oscillating in the up and down direction. This can attract the user's attention.

[0066] Furthermore, the control unit 33 may display the target T on the screen 300 of the display device 3 so that the shape of the target T changes as it moves, as shown in FIG. 2(B). In the example shown in FIG. 2(B), the target T, which is an automobile, is displayed as if it is running while spewing exhaust gas backward. The shape of the target T changes as if exhaust gas is being blown out from the automobile. This can further attract the user's attention.

[0067] The movement of the marker M is based on the user's operation of the handle 4, but by making the movement speed of the marker M slower than the movement speed of the target T, the position of the target T can be made to coincide with the correction value acquisition position before the marker M overlaps with the target T. This makes it possible to obtain a correction value for each correction value acquisition region.

[0068] According to the driving simulation device of this embodiment described above in detail, it is possible to obtain a correction value for the direction of the line of sight when the user is gazing at the target and in a posture for performing a driving simulation.

[0069] In the present invention, the driving simulator of the above-described embodiment can be modified as appropriate without departing from the spirit of the present invention. Furthermore, the technical scope of the present invention is not limited to the above-described embodiment, but includes the inventions set forth in the claims and their equivalents.

[0070] For example, in the above-described embodiment, the screen of the display device is divided into nine correction value acquisition areas, but this is just an example. The screen of the display device may have fewer or more than nine correction value acquisition areas.

[0071] Furthermore, in the above-described embodiment, nine correction value acquisition positions are set, but the number of correction value acquisition positions is not limited to this. Furthermore, no correction value acquisition positions need to be set. In this case, a correction value is calculated at a position where it is determined that the marker M and the target T overlap. In the present invention, if at least one correction value is calculated, the direction of the user's gaze can be corrected using this correction value.

[0072] Furthermore, in the above-described embodiment, the position calculation unit corrects the first estimated direction using a correction value to obtain the second estimated direction, but another processing unit such as a detection unit may correct the first estimated direction using a correction value to obtain the second estimated direction.

[0073] Furthermore, in the above-described embodiment, the moving object is an ordinary automobile, but the moving object is not limited to this. For example, the moving object may be a railroad vehicle or an aircraft. If the moving object is a railroad vehicle, the operating unit may be a control lever that controls the speed or braking of the vehicle. If the moving object is an aircraft, the operating unit may be a joystick or thrust lever. [Explanation of symbols]

[0074] 1 Driving simulator 2 Driver's seat 3 Display device 4 Handle (operating part) 5. Camera 10 Control device 21 Communication Interface 22 Memory 23 processors 24 signal line 31 Detection unit 32 Position calculation section 33 Control Unit 34 Correction value calculation unit 35 Simulation calculation section

Claims

1. 1. A vehicle driving simulator that simulates the movement of a moving object based on an operation by a user, comprising: a driver's seat in which a user sits; a steering wheel for inputting an operation by a user seated in the driver's seat; A display unit; The photography department and a detection unit that detects the direction of the line of sight of the user seated in the driver's seat based on an image including the user's eyes captured by the imaging unit; a position calculation unit that calculates a gaze position of the user on the display unit based on the direction of the line of sight of the user detected by the detection unit; a display control unit that displays a moving gaze object on the display unit and also displays a marker on the display unit that moves based on an operation of the handle by a user; a correction value calculation unit that calculates a correction value for a direction of the user's line of sight based on the gaze position of the user calculated by the position calculation unit and the position of the gaze object on the display unit when the marker and the gaze object overlap; and When the correction value is calculated by the correction value calculation unit, the direction of the user's line of sight is corrected using the correction value.

2. 2. The simulated driving device of claim 1, wherein the display control unit displays the gazed object on the display unit as moving in a first direction, and also displays the gazed object on the display unit as moving in a second direction that intersects the first direction.

3. 3. The driving simulation device according to claim 1, wherein the display control unit displays the gaze object on the display unit so that the shape of the gaze object moves while changing.

4. The driving simulation device according to any one of claims 1 to 3, wherein the display control unit, when the marker overlaps the gaze object, displays visual information indicating that the marker overlaps the gaze object at a position where the marker and the gaze object overlap.

5. a correction value acquisition position for obtaining the correction value is set on the screen of the display unit; The display control unit displays on the display unit the object of gaze moving toward the correction value acquisition position and stopping at the correction value acquisition position.

6. 6. The driving simulation device according to claim 5, wherein the screen of the display unit is divided into a plurality of correction value acquisition areas, and the correction value acquisition position is set for each of the plurality of correction value acquisition areas.

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