Vehicle simulation system

Abstract

[Problem] To facilitate evaluation of control operations for various apparatuses used in a control system for a vehicle. [Solution] This simulation system for a vehicle includes: a main simulation apparatus that connects a first apparatus provided to the vehicle to a main in-vehicle network and operates the first apparatus to cause the first apparatus to output first output; a sub-simulation apparatus that connects a second apparatus to an in-vehicle subnetwork and operates the second apparatus which operates on the basis of output from the first apparatus; and an inter-apparatus relay apparatus that outputs information generated in the main simulation apparatus to the sub-simulation apparatus. The second apparatus operates in accordance with information generated by the main simulation apparatus.

Description

Technical Field

[0001] The present invention relates to a simulation system for a vehicle.

Background Art

[0002] In a vehicle, a large number of control devices are provided in its control system, for example, as in Patent Document 1. Also, various sensors and actuators are connected to each control device. Final operation confirmation and evaluation of each device provided in such a vehicle control system are performed by actually running the vehicle with each of the above-described devices incorporated in the vehicle control system. Also, for each device of mass-produced vehicles, vehicles after sales, etc., it is performed by actually running the vehicle with each device incorporated in the vehicle control system. And even when confirming and evaluating the operation of one item of one device, the driver is required to run the vehicle multiple times.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in vehicles, development for improving their driving safety and convenience is in progress. For example, development of devices for ADAS (Advanced Driver-Assistance Systems) such as automatic brakes and for autonomous driving is in progress. For this reason, the vehicle control system will become more advanced and complex than the current one in the future. Furthermore, as vehicle control systems become more sophisticated or complex, it is expected that the number of operational verification items and evaluation content for each control device, sensor, and actuator installed in those control systems will also increase. In order to more reliably evaluate the operation of the various control devices, sensors, and actuators installed in increasingly sophisticated and complex vehicle control systems, it is expected that the number of evaluation processes and the time required will increase dramatically.

[0005] Thus, in vehicles, there is a need to facilitate the evaluation of the control operations of the various devices used in their control systems. [Means for solving the problem]

[0006] A vehicle simulation system according to one embodiment of the present invention is a vehicle simulation system for operating a second device that operates in a vehicle based on the output of a first device, comprising: a main simulation device that operates the first device in an environment that mimics the vehicle's control system by connecting it to a main in-vehicle network; a sub-simulation device that operates the second device in an environment that mimics the vehicle's control system by connecting it to a sub-in-vehicle network separate from the main in-vehicle network; and an inter-device relay device that outputs information generated in the main simulation device to the sub-simulation device on which the second device operates, wherein the second device connected to the sub-in-vehicle network operates according to the information generated by the main simulation device on which the first device operates. [Effects of the Invention]

[0007] In this invention, the first device installed in the vehicle operates in an environment that simulates the vehicle's control system by connecting to the main in-vehicle network of the main simulation device. The second device under evaluation, which operates in the vehicle based on the output of the first device, is connected not to the main in-vehicle network of the main simulation device, but to a separate sub-in-vehicle network of a sub-simulation device. As a result, in this invention, the first device can operate in an environment that simulates the vehicle's control system in the main simulation device without being affected by the operation of the second device under evaluation. The first device can operate reliably in an environment that simulates the vehicle's control system without being affected by the operation of the second device. As a result, the first output that the first device outputs in the main simulation device can be reliable and unaffected by the operation of the second device under evaluation. Furthermore, the second device, which is connected to a sub-vehicle network of a sub-simulation device separate from the main vehicle network of the main simulation device, operates according to the information generated by the main simulation device. As a result, even though the second device is connected to the sub-vehicle network of the sub-simulation device, it can operate as if it were connected to the main vehicle network of the main simulation device together with the first device. As a result, the second device, which operates in a vehicle based on the output of the first device, can be evaluated in the vehicle simulation system of the present invention under an environment that mimics the vehicle's control system. The second device can operate in conjunction with the first device in the vehicle simulation system of the present invention, even if it is not installed in the vehicle together with the first device. The second device can be evaluated in conjunction with the first device under an environment that mimics the vehicle's control system and under an environment in which the first device is operating reliably. In the present invention, in the vehicle's control system, the second device, which operates in conjunction with the first device based on the output of the first device in the vehicle, can be operated in a simulation system that does not rely on a vehicle, and its operation can be easily evaluated. Thus, the present invention makes it possible to facilitate the evaluation of the control operations of various devices used in vehicle control systems. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is an explanatory diagram illustrating an example of the configuration of an automobile's control system. [Figure 2] Figure 2 is an explanatory diagram of the control and operation for automatic braking in the automobile shown in Figure 1. [Figure 3] Figure 3 is an explanatory diagram illustrating an example of the basic configuration of an automobile simulation system that can be used to evaluate the operation of the automobile control system shown in Figure 1. [Figure 4] Figure 4 is an explanatory diagram of an example of a computer device that can be used as the behavioral calculation device shown in Figure 3. [Figure 5] Figure 5 is an explanatory diagram of the basic configuration of an automobile simulation system according to the first embodiment of the present invention. [Figure 6] Figure 6 is a block diagram of a simulation system implemented under the basic configuration shown in Figure 5 for evaluating the operation of an automobile. [Figure 7] Figure 7 is a schematic diagram illustrating the operating timing of the basic simulation system in Figure 5 under the simulation system in Figure 6. [Figure 8] Figure 8 is a flowchart illustrating the overall control flow for evaluating the operation of the automatic brake in the simulation system of this embodiment. [Figure 9] Figure 9 is an explanatory diagram of the basic configuration of an automobile simulation system according to a second embodiment of the present invention. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings.

[0010] [First Embodiment] Figure 1 is an explanatory diagram of an example of the configuration of the automobile control system 10. Figure 1 shows an example of the components related to automatic braking among the components provided in the automobile control system 10. The automobile control system 10 may include control devices, sensors, actuators, etc. that are not shown in Figure 1.

[0011] The vehicle control system 10 in Figure 1 has an in-vehicle network 16 to which multiple control devices are connected. The in-vehicle network 16 may be a network conforming to automotive standards such as CAN (Controller Area Network) or LIN (Local Interconnect Network). Such an in-vehicle network 16 generally consists of multiple bus cables and a central gateway (CGW) to which the multiple bus cables are bus-connected. Multiple control devices may be distributed and connected to multiple bus cables. Each control device outputs packets containing destination and source information to the bus cable and retrieves packets addressed to itself from the bus cable. The central gateway determines the destination of packets on each bus cable and performs packet routing processing between the multiple bus cables. By using such an in-vehicle network 16, multiple control devices installed in a vehicle can mutually input and output necessary information with other control devices while performing their respective control operations. Multiple control devices installed in a vehicle can cooperate to control the vehicle's driving and other functions. Figure 1 illustrates several control devices connected to the in-vehicle network 16, including an operation control device 11, an external detection control device 12, a VDC (Vehicle Dynamics Control) control device 13, a meter control device 14, and a detection control device 15.

[0012] The operation control device 11 is connected to operating components 21 that are operated by the occupants of the vehicle, such as the driver. The operating components 21 include, for example, the steering wheel, accelerator pedal, brake pedal, and shift lever, which change the behavior of the vehicle through the occupants' operations. The operation control device 11 detects the occupants' operations on the operating components 21 and outputs the detected operation information to the in-vehicle network 16.

[0013] The vehicle exterior detection control device 12 is connected to, for example, a compound-eye vehicle exterior camera 22 in order to detect obstacles to travel outside the vehicle, which is the environment around the traveling automobile. In addition to this, a monocular camera, a Lidar, etc. may also be connected to the vehicle exterior detection control device 12. The compound-eye vehicle exterior camera 22 may be composed of a plurality of cameras arranged to produce a predetermined parallax. The camera may be any one that can image a range in a predetermined direction, and a 360-degree camera etc. can also be used. Further, a plurality of cameras for imaging 360 degrees around the vehicle may be connected to the vehicle exterior detection control device 12. Then, the vehicle exterior detection control device 12 receives an input of an exterior image of the vehicle captured by the compound-eye vehicle exterior camera 22 etc. from the compound-eye vehicle exterior camera 22. The vehicle exterior detection control device 12 may analyze the acquired exterior image of the vehicle to extract obstacles to travel, signals, road signs, level crossings, etc. Here, the obstacles to travel may be, for example, pedestrians, oncoming vehicles, bicycles, preceding vehicles, following vehicles, fallen objects on the road, etc. Further, the vehicle exterior detection control device 12 determines the relative distance and direction from the host vehicle to the obstacle to travel, and when an obstacle to travel is located on the travel path of the host vehicle at a distance of a predetermined distance or less, it may output vehicle exterior detection information about the obstacle to travel etc. existing on the travel path to the in-vehicle network 16. Here, the vehicle exterior detection information may be, for example, information on an approach warning about an obstacle to travel such as a preceding vehicle. In this case, the control system 10 of the automobile may notify the occupant of the fact and execute control for automatic braking by decelerating and stopping the automobile. Further, the control system 10 of the automobile may execute control to move away from the obstacle to travel by means of steering control etc.

[0014] An actuator of a device for controlling the travel of the vehicle is connected to the VDC control device 13. In FIG. 1, the braking actuator 23 of the braking device is illustrated. Then, the VDC control device 13 executes travel control to enhance the travel safety of the vehicle. The VDC control device 13 controls, for example, the operation for braking the braking actuator 23 so as to cause the braking actuator 23 to perform a braking operation. Thereby, the vehicle can decelerate and finally stop. Further, when a steering actuator of a steering device is connected, the VDC control device 13 may further control the operation for steering the steering actuator so that the host vehicle moves away from a driving obstacle and proceeds. In addition to this, for example, when the vehicle is traveling on a corner where the vehicle curves, the VDC control device 13 may control the operations of the braking actuator 23, the steering actuator, etc. so as to stabilize the vehicle body posture during cornering. At this time, the VDC control device 13 may control operations such as braking and steering for some of the wheels provided in plurality on the vehicle. In this way, the behavior of the vehicle can be changed by the control operation of the VDC control device 13. Further, when the behavior of the vehicle changes, the driving state of the vehicle, such as the speed and acceleration of the vehicle, also changes. The VDC control device 13 can control the driving state of the vehicle. Note that when the VDC control device 13 acquires significant out-of-vehicle detection information from the in-vehicle network 16 based on the presence of a driving obstacle in the traveling direction of the vehicle, it is preferable to control the braking operation of the braking actuator 23 so as to stop before the driving obstacle. On the other hand, when acquiring meaningless out-of-vehicle detection information indicating that there is no driving obstacle in the traveling direction of the vehicle, the VDC control device 13 may not execute control for operating the braking actuator 23 etc.

[0015] A meter panel 24 is connected to the meter control device 14. The meter panel 24 is provided on, for example, the dashboard of the vehicle. Thereby, the meter panel 24 can be provided in front of the driver who is an occupant of the vehicle. The meter panel 24 may be, for example, a liquid crystal panel device. The meter control device 14 controls the display output of the meter panel 24. The meter control device 14 causes the meter panel 24 to display information indicating the driving state of the vehicle, such as the speed of the vehicle and warning messages. In this embodiment, a speaker 25 is also connected to the meter control device 14. When the meter control device 14 acquires external detection information from the in-vehicle network 16, for example, based on the presence of an obstruction in the vehicle's direction of travel, it displays a warning message on the meter panel 24 and outputs a warning sound from the speaker 25. These warnings enable the vehicle's occupants to pay attention to the direction of travel and recognize that an object in the direction of travel is an obstruction to the vehicle's path.

[0016] Various sensors installed in the automobile are connected to the detection control device 15. In Figure 1, a wheel speed sensor 26, an acceleration sensor 27, and a speed sensor 28 are shown as examples. The wheel speed sensor 26 detects the rotational speed of the vehicle's wheels. The acceleration sensor 27 detects the acceleration of the vehicle. The acceleration sensor 27 may be a three-axis sensor capable of detecting acceleration in the yaw, pitch, and roll directions of the vehicle. The speed sensor 28 detects the speed of the vehicle. The detection control device 15 may output the detection information from these sensors, such as the vehicle's current speed, acceleration, and wheel speed, to the in-vehicle network 16. The detection control device 15 may also output predetermined information obtained by processing the sensor detection information to the in-vehicle network 16.

[0017] Figure 2 is an explanatory diagram of the control and operation for automatic braking in the automobile shown in Figure 1. Figure 2 shows the compound external camera 22, external detection control device 12, VDC control device 13, and braking actuator 23, which are part of the control system 10 of the automobile shown in Figure 1. Furthermore, in Figure 2, time flows from left to right on the page.

[0018] Then, as shown in Figure 2, at time t1, the compound external camera 22 captures an image of the area outside the vehicle in the vehicle's driving state at that time and outputs an external image. The external detection control device 12 analyzes the external image and outputs external detection information about obstacles to driving, etc. When the VDC control device 13 acquires the external detection information, it executes control according to the content of that information to generate VDC data and outputs it to the braking actuator 23, etc. The braking actuator 23 operates according to the VDC data. As a result, the behavior of the vehicle changes, and the driving state of the vehicle also changes. Here, VDC data refers to control information that the VDC control device 13 generates to control the operation of the braking actuator 23, etc., and outputs to the braking actuator 23, etc.

[0019] Furthermore, at time t2, the compound external camera 22 captures images of the area outside the vehicle in the vehicle's driving state at the time of the change and outputs external images. The external detection control device 12 analyzes the external images and outputs external detection information about obstacles to driving, etc. When the VDC control device 13 acquires external detection information, it generates and outputs VDC data. The braking actuator 23 operates according to the VDC data. As a result, the behavior of the vehicle changes, and the vehicle's driving state also changes.

[0020] Furthermore, at time t3, the compound external camera 22 captures images of the area outside the vehicle in the vehicle's driving state at the time of the change and outputs external images. The external detection control device 12 analyzes the external images and outputs external detection information about obstacles to driving, etc. When the VDC control device 13 acquires external detection information, it generates and outputs VDC data. The braking actuator 23 operates according to the VDC data. As a result, the behavior of the vehicle changes, and the vehicle's driving state also changes.

[0021] In this way, the automobile control system 10 can control the automobile's movement so that it stops before encountering an obstacle, by having multiple devices cooperate and repeatedly perform control operations at a predetermined cycle.

[0022] Note that the times t1 to t3 in Figure 2 are illustrative examples, but in vehicles using CAN, the external detection control device 12 and the VDC control device 13 input and output external detection information according to the period of the time slots allocated by CAN. That is, the external detection control device 12 outputs external detection information to the in-vehicle network 16 at the timing of the allocated time slot. The VDC control device 13 acquires external detection information as time slot information from the in-vehicle network 16 at the timing allocated by CAN. In this way, the external detection control device 12 and the VDC control device 13 input and output external detection information as the first output using time slots allocated for periodic communication through the in-vehicle network 16 in the vehicle.

[0023] Thus, the automobile's control system 10 is equipped with multiple control devices that cooperate with each other. In addition, various sensors and actuators are connected to each control device. For example, when developing a new automobile, the various control devices used in that automobile, such as the multi-lens external camera 22 and sensors as input devices, and actuators as output devices, must undergo individual bench testing and then undergo final operational testing after being incorporated into the control system 10. Furthermore, evaluation of the device integrated into the vehicle's control system 10 is currently performed by actually driving the vehicle. In particular, the final operational verification and evaluation of newly developed devices are performed by actually driving the vehicle with the device integrated into it along with other devices. Even when verifying and evaluating the operation of a single item, the driver is required to drive the vehicle multiple times. A tremendous amount of processes and time are spent on evaluation in vehicle development.

[0024] Incidentally, in the automotive industry, development is progressing to improve driving safety and convenience. For example, development is underway on devices such as automatic braking (ADAS) and autonomous driving systems. Therefore, it is expected that the control system 10 of automobiles will become more sophisticated and complex than it is currently. Furthermore, as the automobile's control system 10 becomes more sophisticated or complex, it is expected that the number of operational verification items and evaluation content for each control device, sensor, and actuator installed in the control system 10 will also increase. In order to evaluate the operation of the various control devices, sensors, and actuators installed in the increasingly sophisticated and complex automobile control system 10 in a more reliable manner, it is expected that the number of evaluation processes and the time required will increase dramatically.

[0025] Thus, in automobiles, there is a need to facilitate the evaluation of the operation of the various devices used in the control system 10. It should be noted that such operational evaluations are not limited to the development of new automobiles. For example, the operation of equipment in mass-produced automobiles and equipment in automobiles after they have been sold may also need to be evaluated. Even in the case of such operational evaluations of mass-produced automobiles and automobiles after they have been sold, the current method is basically to drive the automobile with the equipment installed. Next, I will describe the automobile simulation system that the inventor independently developed for use in such evaluations.

[0026] Figure 3 is an explanatory diagram illustrating an example of the basic configuration of an automobile simulation system 30 that can be used to evaluate the operation of the automobile control system 10 shown in Figure 1.

[0027] The automobile simulation system 30 in Figure 3 has an in-vehicle network 16 to which various devices of the automobile's control system 10 are connected. The in-vehicle network 16 can be the same in-vehicle network 16 used in the automobile's control system 10. Multiple devices shown in Figure 1 are connected to the simulation system 30 in Figure 3. However, due to space limitations, some parts of the detection control device 15 in Figure 1 are omitted from the illustration. As a result, various devices of the automobile's control system 10 can be incorporated into the simulation system 30 in the same state as they are installed in the automobile. Furthermore, by connecting automobile control devices other than those shown in Figure 1, and all devices of the automobile's control system 10, to the in-vehicle network 16, it is possible to accurately reproduce the communication environment in an actual automobile in the simulation system 30. For example, if the control device 11 is connected to the in-vehicle network 16, the driver of the car can operate the control member 21 to drive the car in a virtual space in the simulation system 30. Furthermore, the various devices of the automobile control system 10 constitute the vehicle control system reproduction unit 48 in the simulation system 30. The hatched boxes in Figure 3 represent the various devices shown in the automobile control system 10 in Figure 1.

[0028] Furthermore, the simulation system 30 in Figure 3 includes, in addition to the in-vehicle network 16, a main communication network 32, a synchronous relay device 33, an event generator 39, a driving environment generator 40, a behavior calculation device 34, a monitor image generator 35, a driver monitor 38, a camera image generator 36, and a multi-eye monitor 37 for the camera.

[0029] The main communication network 32 can be any communication network commonly used in computer equipment communication. Such communication networks may include those conforming to standards such as IEEE (Institute of Electrical and Electronics Engineers) 802.3. The main communication network 32 is connected to a synchronous relay device 33, an event generator 39, a driving environment generation device 40, a behavior calculation device 34, a monitor image generation device 35, and a camera image generation device 36. These devices connected to the main communication network 32 can send and receive information from each other, for example, through packet communication.

[0030] The synchronous relay device 33 is connected to the main communication network 32 and the in-vehicle network 16. The synchronous relay device 33 relays information between the in-vehicle network 16 and the main communication network 32. As a result, information from the in-vehicle network 16 can be output to the main communication network 32 via the synchronous relay device 33. Information from the main communication network 32 can be output to the in-vehicle network 16 via the synchronous relay device 33. Devices connected to the main communication network 32 and devices connected to the in-vehicle network 16 can send and receive necessary information through the synchronous relay device 33. Furthermore, the synchronous relay device 33 should not relay all the information from the in-vehicle network 16 to the main communication network 32, nor relay all the information from the main communication network 32 to the in-vehicle network 16, but rather filter and relay only a portion of it. The in-vehicle network 16 is basically an in-vehicle network 16 that is incorporated into a vehicle. In the in-vehicle network 16 of a vehicle, as described above, the type and timing of the information to be communicated are defined by time slots, etc. The synchronous relay device 33 should relay only the information that is missing on the in-vehicle network 16 side from the main communication network 32 to the in-vehicle network 16 based on a predetermined filtering setting. Also, the synchronous relay device 33 should relay only the information required by the main communication network 32 from the in-vehicle network 16 to the main communication network 32 based on a predetermined filtering setting.

[0031] The event generator 39 generates events in the virtual space when the vehicle is driven in the virtual space. The event generator 39 pre-stores location and time information for events such as pedestrians, oncoming vehicles, bicycles, preceding vehicles, following vehicles, objects on the road, traffic lights, and railroad crossings, generates event information at that time and location in the virtual space, and outputs it to the main communication network 32.

[0032] The driving environment generator 40 pre-stores high-precision three-dimensional spatial data, such as high-precision map data, and data for a predetermined scenario regarding the vehicle's driving. When the vehicle is to be driven in the virtual space, the driving environment generator 40 generates a virtual space around the vehicle based on the vehicle's position in the virtual space, using the three-dimensional spatial data and the scenario as a reference. If the driving environment generator 40 has acquired event information from the main communication network 32, it places an object corresponding to the event in the virtual space related to that event information. The driving environment generator 40 outputs the vehicle's position information and the virtual space information that it has generated to the main communication network 32.

[0033] The behavior calculation device 34 calculates the behavior of the vehicle as it travels through the virtual space. For example, the behavior calculation device 34 uses the vehicle's previous behavior and driving state, along with information obtainable from the main communication network 32, to calculate the current behavior and driving state of the vehicle. The behavior calculation device 34 may obtain information from the main communication network 32, such as operation information of the operating member 21 and control information of the VDC control device 13, such as the VDC data mentioned above. This allows the behavior calculation device 34 to calculate the vehicle's behavior and driving state in response to the operation of the operating member 21 and the control of the VDC control device 13. The behavior calculation device 34 basically calculates the vehicle's behavior, such as speed, acceleration, pitch, roll, and yaw, based on information regarding the vehicle's control operations. The behavior calculation device 34 may also calculate the vehicle's driving state after the calculated behavior. The behavior calculation device 34 outputs the information on the vehicle's behavior and driving state that it has generated to the main communication network 32.

[0034] A driver monitor 38 is connected to the monitor image generation device 35. The driver monitor 38 displays a field of view image from the vehicle to the driver of the simulation system 30. The monitor image generation device 35 acquires information such as the vehicle's position, virtual space information, vehicle behavior, and driving state from the main communication network 32, and generates a field of view image of the three-dimensional virtual space as seen from the vehicle's position. The monitor image generation device 35 may basically generate a field of view image covering the area in front of the vehicle, which is its direction of travel. The monitor image generation device 35 outputs the generated field of view image to the driver monitor 38 and the camera image generation device 36. As a result, the driver monitor 38 displays a field of view image of the virtual space as seen from a vehicle driving in the virtual space. The driver can drive in the simulation system 30 using the field of view image that changes according to the operation of their control member 21.

[0035] A camera image generation device 36 is connected to a camera multi-eye monitor 37. The camera multi-eye monitor 37, together with the automobile's multi-eye external camera 22, constitutes a camera module. The camera multi-eye monitor 37 has multiple monitors that correspond one-to-one with each of the multiple cameras that make up the multi-eye external camera 22. In the camera module, each monitor of the camera multi-eye monitor 37 may be positioned facing each of the cameras of the multi-eye external camera 22. The camera image generation device 36 then acquires the field of view image generated by the monitor image generation device 35 from the main communication network 32 and generates multiple parallax images to be displayed on each monitor of the camera's multi-eye monitor 37. The camera image generation device 36 may also acquire information such as the vehicle's position, virtual space, vehicle behavior, and driving state from the main communication network 32, and directly generate multiple parallax images from this information. The camera image generation device 36 outputs the generated multiple parallax images to the camera's multi-eye monitor 37. The camera's multi-eye monitor 37 displays parallax images on its multiple monitors that are equivalent to those seen by the driver. The vehicle's multi-eye external camera 22 can capture parallax images using its multiple cameras. As a result, the vehicle's multi-eye external camera 22 can capture parallax images in the simulation system 30 as seen from a vehicle driving in the virtual space. Furthermore, the camera image generation device 36 may acquire information on the vehicle's behavior generated by the behavior calculation device 34 from the behavior calculation device 34 via the main communication network 32, and generate information on the vehicle's driving state itself.

[0036] Figure 4 is an explanatory diagram of an example of a computer device 50 that can be used as the behavior calculation device 34 in Figure 3. Furthermore, other evaluation devices in the simulation system 30 shown in Figure 3, besides the behavior calculation device 34, such as the driving environment generation device 40, event generation device 39, monitor image generation device 35, camera image generation device 36, and synchronous relay device 33, may also use the same computer device 50 as in Figure 4. Also, the multiple evaluation devices in Figure 3 may be integrated into a single computer device 50. When integrating, the processing load of each evaluation device should be considered. Additionally, if the processing load of one evaluation device in Figure 3 is high, that evaluation device may be distributed across multiple computer devices 50. Essentially, each evaluation device in Figure 3 needs to be implemented in the simulation system 30 so as not to lag behind the time slot communication in the vehicle's in-vehicle network 16.

[0037] The computer device 50 in Figure 4 has a communication port 51, a timer 52, memory 53, a CPU 54 (Central Processing Unit), and an internal bus 55 to which these are connected. Communication port 51 is connected to the main communication network 32 of the simulation system 30. Timer 52 measures time or duration. Memory 53 stores calculation programs executed by the CPU 54, configuration data, etc. Memory 53 may consist of non-volatile memory such as HDD (Hard Disk Device), SSD (Solid State Device), ROM (Read Only Memory), and volatile memory such as RAM (Random Access Memory). In this case, calculation programs, configuration data, etc. may be stored in the non-volatile memory. The CPU 54 reads and executes the calculation program stored in memory 53. This enables the computer device 50 to have a control unit. The CPU 54, acting as a control unit, controls the operation of the computer device 50 and performs the control functions of the behavioral calculation device 34 and the like described above. As a result, the computer device 50 in Figure 4 can function in the simulation system 30 in Figure 3 as, for example, a behavior calculation device 34.

[0038] As described above, the automobile simulation system 30 in Figure 3 can reproduce the operation of the automobile control system 10 for automatic braking shown in Figure 1, along with the in-vehicle network 16, in the vehicle control system reproduction unit 48, thereby reproducing the operation of the automobile as if it were driving in a virtual space. Automobile developers and others can use the automobile simulation system 30 in Figure 3 to obtain information for evaluating the control and operation of the devices of an automobile under development. By using the automobile simulation system 30 in Figure 3, automobile developers and others can reliably evaluate the control and operation of each device of an automobile under development without having to install them in an automobile. Even if the automobile control system 10 is sophisticated or complex, the increasing number of evaluation items for each device of an automobile under development can be efficiently and reliably evaluated using the automobile simulation system 30 in Figure 3. The evaluation of the operation of the various devices used in the automobile control system 10 can be performed by bench testing, which can be dramatically easier than when performed in an actual vehicle. As a result, it can be expected that the control and operation of each device under development will be more reliable than when performed in an actual vehicle.

[0039] However, the automobile simulation system 30 shown in Figure 3 may require considerable effort to evaluate the operation of a device under development if used as is. In the automobile simulation system 30 shown in Figure 3, the closed loop L1 shown in Figure 2 is realized by multiple devices shown in bold in Figure 3. Specifically, in Figure 3, the closed loop consists of a monitor image generation device 35, a camera image generation device 36, a multi-eye monitor for cameras 37, a multi-eye external camera 22, an external detection control device 12, a VDC control device 13, and a behavior calculation device 34. In this case, the closed loop in Figure 3 includes an external vehicle detection control device 12 and a VDC control device 13, which are devices installed in the vehicle. The external vehicle detection control device 12 generates external vehicle detection information based on captured images of the outside of the vehicle that change in accordance with the vehicle's driving state, and outputs it to the in-vehicle network 16. The VDC control device 13 acquires external vehicle detection information from the in-vehicle network 16 and controls the operation of actuators for vehicle driving control that can change the vehicle's behavior according to the acquired external vehicle detection information. As a result, the vehicle simulation system 30 in Figure 3 evaluates the operation of the automatic brake, which is operated in cooperation with the external vehicle detection control device 12 and the VDC control device 13. The price It is possible.

[0040] On the other hand, the automobile's control system 10 is equipped with numerous control devices. Furthermore, various sensors and actuators are connected to each control device. As described above, the external vehicle detection control device 12 generates external vehicle detection information based on captured images of the outside of the vehicle and outputs it to the in-vehicle network 16 for purposes such as automatic braking. The VDC control device 13 acquires the external vehicle detection information from the in-vehicle network 16 and performs control to operate the vehicle's braking actuators according to the external vehicle detection information. Furthermore, in automobile development, each component is often developed by different developers. For example, the external vehicle detection control device 12 and the VDC control device 13 may be developed by different developers. In this case, the operational evaluation of the VDC control device 13 must be performed by integrating it into the automobile together with the external vehicle detection control device 12. However, for example, in order for the evaluation of the operation of such a VDC control device 13 to be reliable, it is a prerequisite that the development of the external detection control device 12 has progressed to a considerable extent. Therefore, the evaluation of the operation of the VDC control device 13 can only be performed when the development of the automobile, including the external detection control device 12, has progressed to a considerable extent. As a result, the work of modifying the VDC control device 13 to reflect the evaluation results can only be started when the development of the automobile has progressed to a considerable extent. Furthermore, if the evaluation results when combined with the external detection control device 12 are undesirable, the developer will need to make corrections to the vehicle based on those results. However, the evaluation results when combined with the external detection control device 12 alone may not be sufficient to determine whether the corrections should be made to the external detection control device 12, the VDC control device 13, or both. The developer will need to estimate and decide on the location of the corrections based on the evaluation results of the combination. The developer may be unsure about making the appropriate decision regarding the location of the corrections. Due to these circumstances, the development of an automobile that includes a VDC control device 13, which needs to be developed together with the external detection control device 12, will take a long time. In automobiles, there is a need to facilitate automobile development by enabling early evaluation of the VDC control device 13, which is used in combination with the external detection control device 12.

[0041] Furthermore, the automobile simulation system 30 shown in Figure 3 essentially enables early evaluation of the VDC control device 13, which is used in combination with the external detection control device 12, thereby facilitating automobile development. However, the closed loop in Figure 3 includes the VDC control device 13 under evaluation. If the VDC control device 13 under evaluation does not reliably perform its control operation, the closed loop in Figure 3 will also not be able to operate reliably. Thus, if the VDC control device 13 to be evaluated is included in the closed loop of the simulation system 30, even if the evaluation is performed in that state, the evaluation results will not reflect the evaluation performed under the desired conditions. ru Situations that contradict this statement may arise. It should be noted that these circumstances are not limited to the combination of the external detection control device 12 and the VDC control device 13. Generally speaking, in an automobile, there is an input-side control device (first device) that outputs a first output to the in-vehicle network 16, and a control device that acquires the first output from the in-vehicle network 16 and performs control. Output side control deviceSimilar circumstances may arise when combined with (the second device). In particular, the input-side control device (first device) detects an object that may change in response to the vehicle's driving conditions and outputs a first output to the VDC control device 13 via the in-vehicle network 16, and Output side control device If the (second device) acquires a first output from the in-vehicle network 16 and controls the operation of an actuator in the vehicle that can change the behavior of the vehicle according to the first output, then the vehicle simulation system 30 in Figure 3 needs to construct a closed loop as described above.

[0042] Figure 5 is an explanatory diagram of the basic configuration of an automobile simulation system 60 according to the first embodiment of the present invention. The simulation system 60 in Figure 5 is an improved version based on the simulation system 30 in Figure 3. The simulation system 60 in Figure 5 includes a main simulation device 601, a sub-simulation device 602, an inter-device relay device consisting of a first inter-device relay unit 70 and a second inter-device relay unit 71, and a device evaluation device 90 as a detection device. Furthermore, the simulation system 60 shown in Figure 5 is suitable for evaluating the VDC control device 13, which is used in combination with the external detection control device 12 in an automobile for automatic braking.

[0043] The device evaluation device 90 is a device that detects and evaluates the operation of the braking actuator 23, which operates under the control of the VDC control device 13. Further details will be described later.

[0044] The main simulation device 601, like the simulation system 30 in Figure 3, includes a main in-vehicle network 31, a main communication network 32, a first synchronous relay device 61, an event generator 39, a driving environment generation device 40, a first behavior calculation device 63, a monitor image generation device 35, and a camera image generation device 36. Here, the main in-vehicle network 31 may be the in-vehicle network 16 used in the vehicle's control system 10, or an equivalent. The main communication network 32 is connected to the first synchronous relay device 61, the event generator 39, the driving environment generation device 40, the first behavior calculation device 63, the monitor image generation device 35, and the camera image generation device 36. A camera-mounted multi-eye monitor 37 is connected to the camera image generation device 36. Here, the first synchronous relay device 61 has an additional first inter-device relay unit 70, but it is basically the same as the synchronous relay device 33 in Figure 3. The first behavior calculation unit 63 has an added simulation function for the VDC control device 13, but it can basically be the same as the behavior calculation unit 34 in Figure 3. For example, the first behavior calculation unit 63 acquires the external detection information output by the first external detection control device 121 to the main in-vehicle network 31 and performs calculation processing. The simulation function of the VDC control device 13 will be described later. Furthermore, the main in-vehicle network 31 may be connected to at least the devices of the vehicle control system 10 in Figure 1, excluding the VDC control device 13 and the braking actuator 23, which are the subject of evaluation here. Here, the main in-vehicle network 31 is connected to the first external vehicle detection control device 121, Operation control device 11 This is shown as an example. In addition, a compound-eye external camera 22 is connected to the first external detection control device 121. Operation control device 11 An operating member 21 is connected to it. Here, the first external vehicle detection control device 121 may be the same as the external vehicle detection control device 12 in Figure 1, as in Figure 3.

[0045] The sub-simulation device 602 includes a sub-in-vehicle network 64, a sub-communication network 65, a second synchronous relay device 66, and a second behavior calculation device 67. The second synchronous relay device 66 and the second behavior calculation device 67 are connected to the sub-communication network 65. Here, the second synchronous relay device 66 has an additional second inter-device relay unit 71, but it can basically be the same as the synchronous relay device 33 in Figure 3. The second behavior calculation device 67 generates missing information from the input information of the VDC control device 13 of the sub-simulation device 602, but it can basically be the same as the behavior calculation device 34 in Figure 3. The calculation of missing input information for the VDC control device 13 will be described later. The sub-in-vehicle network 64 is connected to the VDC control device 13 and the braking actuator 23, which are the targets of evaluation in the vehicle's control system 10 shown in Figure 1, as well as the first external detection control device 121, which operates in cooperation with the VDC control device 13. The braking actuator 23 is connected to the VDC control device 13. In addition, a device evaluation device 90 is provided for the VDC control device 13 and the braking actuator 23.

[0046] The first inter-device relay unit 70 outputs information that the first synchronous relay device 61 can acquire from the main in-vehicle network 31 and the main communication network 32 to the second inter-device relay unit 71. In this case, the first inter-device relay unit 70 may perform filtering on the information that the first synchronous relay device 61 can acquire and output a portion of it to the second inter-device relay unit 71. In addition, the first inter-device relay unit 70 may output information input from the second inter-device relay unit 71 to the main in-vehicle network 31 or the main communication network 32 through the first synchronous relay device 61.

[0047] The second inter-device relay unit 71 outputs to the first inter-device relay unit 70 information that the second synchronous relay unit 66 can acquire from the sub-in-vehicle network 64 and the sub-communication network 65. In this case, the second inter-device relay unit 71 may perform filtering on the information that the second synchronous relay unit 66 can acquire and output a portion of it to the first inter-device relay unit 70. The second inter-device relay unit 71 may also output information input from the first inter-device relay unit 70 to the sub-in-vehicle network 64 or the sub-communication network 65 through the second synchronous relay unit 66.

[0048] As a result, the first inter-device relay unit 70 and the second inter-device relay unit 71 control the transmission and reception of information between the main simulation device 601 and the sub-simulation device 602. The main simulation device 601 can obtain any information it lacks for control from the sub-simulation device 602 through the inter-device relay device provided by the first inter-device relay unit 70 and the second inter-device relay unit 71. The sub-simulation device 602 can obtain any information it lacks for control from the main simulation device 601 through the inter-device relay device provided by the first inter-device relay unit 70 and the second inter-device relay unit 71. For example, the second behavior calculation device 67 can obtain the information it needs for its calculations from the main simulation device 601. The content of the information transmitted and received between the main simulation device 601 and the sub-simulation device 602 will be described later.

[0049] As shown above, in the simulation system 60 in Figure 5, the main in-vehicle network 31 is connected to the control device under evaluation. outputAt least one control device that outputs is connected. In the main simulation device 601, a closed loop corresponding to the closed loop L1 in Figure 2 is realized by multiple devices shown in bold in Figure 5. That is, in Figure 5, the closed loop consists of a monitor image generation device 35, a camera image generation device 36, a multi-eye monitor for the camera 37, a multi-eye external camera 22, a first external vehicle detection control device 121, and a first behavior calculation device 63. The first external vehicle detection control device 121 can operate reliably in an environment that mimics the control system 10 of an automobile, in an environment that is not affected by the operation of the VDC control device 13 under evaluation, and while the automobile is driving in a virtual space.

[0050] Furthermore, in the simulation system 60 shown in Figure 5, the VDC control device 13 under evaluation is connected to the sub-in-vehicle network 64 of the sub-simulation device 602 so that it is outside the closed loop described above. In addition, the external detection control device 12, which is used for evaluation together with the VDC control device 13 under evaluation, is provided in both the main simulation device 601 and the sub-simulation device 602. The first external detection control device 121, which is the external detection control device 12 of the main simulation device 601, is located within the closed loop. In contrast, the second external vehicle detection control device 122, which is the external vehicle detection control device 12 of the sub-simulation device 602, is outside the closed loop, just like the VDC control device 13 being evaluated. However, since the second external vehicle detection control device 122 receives the same disparity image as the first external vehicle detection control device 121, it can basically perform the same control operations as the first external vehicle detection control device 121 and generate the same external vehicle detection information as the first external vehicle detection control device 121.

[0051] Here, the second external vehicle detection control device 122 requires external vehicle images from the compound external vehicle camera 22 for its operation. For this reason, in the simulation system 60 of Figure 5, the compound external vehicle camera 22 provided on the main simulation device 601 is connected to the second external vehicle detection control device 122 of the sub-simulation device 602 by a direct line 69. As a result, the second external vehicle detection control device 122 can detect information on objects to be detected, such as obstacles to driving, which is generated for the first external vehicle detection control device 121 by the camera image generation device 36 of the main simulation device 601, in parallel with the first external vehicle detection control device 121, and generate external vehicle detection information related to them. In addition, the second external vehicle detection control device 122 can output the external vehicle detection information to the sub-in-vehicle network 64. In addition, for example, the first external vehicle detection control device 121 may output the external vehicle image from the compound external vehicle camera 22 to the main in-vehicle network 31. Alternatively, the external vehicle image from the compound external vehicle camera 22 may be relayed from the main simulation device 601 to the sub-simulation device 602. In this case, the second external vehicle detection control device 122 can acquire the external vehicle image from the compound external vehicle camera 22 of the main simulation device 601, execute the desired control operation, and output external vehicle detection information.

[0052] Furthermore, in the simulation system 60 shown in Figure 5, by connecting the first external vehicle detection control device 121 to the main in-vehicle network 31, it can be operated in an environment that mimics the control system 10 of a vehicle, and external vehicle detection information can be output from the first external vehicle detection control device 121 as the first output. Furthermore, in the simulation system 60 shown in Figure 5, the VDC control device 13 can be operated in an environment that mimics the control system 10 of an automobile by connecting it to the sub-in-vehicle network 64. Here, the main in-vehicle network 31 and Sub-vehicle network 64Of these, at least the sub-in-vehicle network 64 should be the same as the in-vehicle network 16 actually used in the vehicle together with the VDC control device 13. However, the main in-vehicle network 31 does not have to be the same as the in-vehicle network 16 used in the vehicle's control system 10, but can be equivalent. In particular, if the evaluation of the external detection control device 12 used as the first external detection control device 121 has been completed, the main in-vehicle network 31 does not have to be the same as the in-vehicle network 16 actually used in the vehicle together with the VDC control device 13.

[0053] Here, we will explain the information required by the VDC control device 13 for a predetermined control operation. As shown in Figure 1, when the VDC control device 13 performs automatic braking control, it requires information such as the vehicle's speed, vehicle acceleration, and wheel speed from the detection control device 15, in addition to the external detection information from the external detection control device 12. The VDC control device 13 controls the amount of movement and operating state of the braking actuator 23 when performing automatic braking, according to VDC information such as the vehicle's speed, vehicle acceleration, and wheel speed. The VDC control device 13 controls the amount of movement and operating state of the braking actuator 23 during automatic braking so that the vehicle stops within the range of the distance to the detected obstacle. Furthermore, if the difference between the instantaneous distance traveled from the vehicle's speed during braking and the instantaneous distance traveled from the wheel speed is large, the VDC control device 13 controls the operation of the braking actuator 23 and the ABS (Anti-lock) (not shown). Bram The system may also implement control measures to adjust the operation of the device in a way that suppresses it.

[0054] In this case, the first inter-device relay unit 70, provided in the first synchronous relay device 61, selects, through a predetermined filtering process, the external detection information from the external detection control device 12 and the vehicle speed and acceleration information obtained as calculation results from the first behavior calculation device 63, which are generated in the main simulation device 601 where the external detection control device 12 operates. The first inter-device relay unit 70 also outputs the selected information to the second inter-device relay unit 71, provided in the second synchronous relay device 66. The second synchronous relay device 66 may output the information acquired from the main simulation device 601 to the sub-communication network 65 and the sub-in-vehicle network 64. Furthermore, in the sub-simulation device 602, the second behavior calculation device 67, which operates together with the VDC control device 13, calculates the wheel speed of the vehicle equipped with the VDC control device 13 based on information such as speed obtained from the main simulation device 601. The second behavior calculation device 67 outputs the generated vehicle wheel speed information to the sub-communication network 65. The second synchronous relay device 66 acquires the wheel speed information from the sub-communication network 65 and outputs it to the sub-in-vehicle network 64. As a result, the second behavior calculation unit 67 determines that the VDC control unit 13 is necessary for controlling its automatic brakes. do It can generate missing information from the available data. The second behavior calculation unit 67 can function as an input calculation unit for the VDC control device 13 being evaluated. Furthermore, the VDC control device 13, which is connected to the sub-in-vehicle network 64, can acquire external detection information from the first external detection control device 121, which is operating within the closed loop of the main simulation device 601, or equivalent information, which is external detection information from the second external detection control device 122, which is operating in the sub-simulation device 602. In addition, the VDC control device 13 can acquire all the information necessary for the control operation of the automatic brake from the sub-in-vehicle network 64, as in the case of Figure 1.

[0055] Furthermore, the simulation system 60 in Figure 5 incorporates the device shown in Figure 1 in order to evaluate the control operation of the automatic brakes of the control system 10 installed in the automobile. When evaluating the control operations of other automobile functions, the various devices of the automobile's control system 10 incorporated into the simulation system 60 in Figure 5 may be changed from those shown in Figure 5. Furthermore, when evaluating the control operations of each function of an automobile, all the devices of the automobile's control system 10 may be incorporated into the simulation system 60 shown in Figure 5.

[0056] Figure 6 is a block diagram of a simulation system 80 implemented under the basic configuration shown in Figure 5 for the evaluation of automobiles. Figure 6 shows the configuration of the simulation system 80, along with the basic components of Figure 5, and includes a VDC operation reproduction unit 81, a vehicle behavior calculation unit 82, and a wheel speed calculation unit 83, which serve as control operation reproduction units. The hatched boxes in the figure represent the various devices shown in the automobile control system 10 of Figure 1, which are installed in the simulation system 60 of Figure 5.

[0057] The VDC operation reproduction unit 81 reproduces the control output of the VDC control device 13 or the operation output of the actuator in accordance with the external detection information output by the external detection control device 12 shown in Figure 6. Here, the VDC operation reproduction unit 81 only needs to reproduce, for example, the input and output of the VDC control device 13, or the input and output of the VDC control device 13 and the actuator as a whole. For example, each control device provided in the vehicle's control system 10 is developed based on the overall requirements of the vehicle, through processes such as input / output design, requirements design, and functional design for each control device. In this case, by the time an evaluation control device is created, the design of its input / output, requirements, and functions has already been completed. The input / output of the VDC control device 13, and the overall input / output of the VDC control device 13 and actuator, can be easily modeled based on this existing design information. Furthermore, each manufacturer is likely to have already developed similar control devices. In this case, it is also possible to model the control devices that have already been developed. The VDC operation reproduction unit 81 may reproduce the input / output of the VDC control device 13, or the overall input / output of the VDC control device 13 and actuator, based on these models.

[0058] The vehicle behavior calculation unit 82 uses the output of the VDC operation reproduction unit 81 and other sources to calculate the behavior of the vehicle that may change due to the operation of the braking actuator 23, as well as the driving state of the vehicle.

[0059] The wheel speed calculation unit 83 calculates the wheel speed of the vehicle, for example, based on the vehicle's speed. The wheel speed of a vehicle will be different depending on factors such as the circumference of the vehicle's wheels, even if the vehicle's speed is the same.

[0060] Furthermore, in Figure 6, the closed loop of the main simulation device 601 in Figure 5 consists of a monitor image generation device 35 (not shown), a camera image generation device 36, a multi-eye monitor for cameras 37, a multi-eye external camera 22, an external detection control device 12, a VDC operation reproduction unit 81, and a vehicle behavior calculation unit 82. In this case, the camera image generation device 36 and the monitor image generation device 35 function as external image generation devices that generate external images of the vehicle in a driving state that may change due to the operation of the actuators, using the calculation results of the vehicle behavior calculation unit 82. The camera's multi-lens monitor 37 displays the external image generated by the camera image generation device 36. display device It functions as such. The compound-eye external camera 22 functions as an imaging element that captures images of the outside of the vehicle that are displayed on the display device and outputs them to the external detection control device 12 as captured images of the outside of the vehicle.

[0061] Here, the VDC operation reproduction unit 81 and the vehicle behavior calculation unit 82 are implemented in the first behavior calculation unit 63 of the main simulation device 601 in Figure 5. Thus, the first behavior calculation unit 63 in Figure 5 calculates the behavior of the automobile, including the control operation of the VDC control device 13 that is under evaluation. The first behavior calculation unit 63 may, for example, perform calculation processing as the VDC operation reproduction unit 81 based on expressions or tables that show the input / output relationships of the VDC control device 13 that is under evaluation, and calculate the behavior of the automobile by the VDC control device 13. Furthermore, the first behavior calculation unit 63 may use the calculation results of the automobile behavior as the VDC operation reproduction unit 81 to calculate the overall behavior of the automobile and the driving state of the automobile after the behavior.

[0062] Furthermore, the wheel speed calculation unit 83 is implemented in the second behavior calculation unit 67 of the sub-simulation device 602 shown in Figure 5. The second behavior calculation unit 67 acquires information such as the speed indicating the vehicle's behavior or the vehicle's driving state corresponding to that behavior, calculated by the first behavior calculation unit 63, via the sub-communication network 65, and, as the wheel speed calculation unit 83, calculates the input information for the VDC control device 13 according to the acquired information such as speed. The second behavior calculation unit 67 outputs the calculation result of the wheel speed calculation unit 83 to the sub-communication network 65. The second synchronous relay device 66 outputs the calculation result of the wheel speed calculation unit 83, which is output to the sub-communication network 65, to the VDC control device 13 via the sub-in-vehicle network 64.

[0063] Furthermore, the external vehicle detection control device 123 in Figure 6 corresponds to both the first external vehicle detection control device 121 of the main simulation device 601 in Figure 5 and the second external vehicle detection control device 122 of the sub-simulation device 602, which can operate similarly to the first external vehicle detection control device 121. In other words, in Figure 6, the external vehicle detection information from the external vehicle detection control device 12 is output to the VDC operation reproduction unit 81 and the VDC control device 13. Thus, the external detection control device 123 in Figure 6 operates under a closed loop that generates the vehicle's driving state. Furthermore, the external vehicle detection control device 123 shown in Figure 6, which operates in a closed loop, can output the external vehicle detection information it generates to the VDC control device 13, which is not included in the closed loop.

[0064] The device evaluation apparatus 90 in Figure 6 includes an evaluation UI device 91 and an evaluation camera 92 connected to the evaluation UI device 91. The evaluation camera 92 detects the operation of the braking actuator 23 by imaging. For example, in a hydraulic braking system, hydraulic pressure presses the brake pad against the brake disc, generating braking force. The evaluation camera 92 may image the change in the oil level due to this hydraulic pressure. In this way, the evaluation camera 92 can detect the amount of movement and the operating state of the braking actuator 23, whose operation is controlled by the VDC control device 13, based on the position and change in the oil level under its operation. The evaluation UI device 91 may be, for example, the computer device 50 in Figure 4 with the addition of a monitor as a user interface. In this case, the evaluation UI device 91 may display images of the oil surface captured by the evaluation camera 92 on the monitor. The developer can check the amount of movement and the operating state of the braking actuator 23 by looking at the display on the monitor. The evaluation UI device 91 may also store master data on changes in the oil surface according to scenarios in the simulation system 80 and display the comparison results with that data on the monitor.

[0065] Thus, in the simulation system 80 of Figure 6, the external vehicle detection control device 123 can be operated in a closed loop that does not include the VDC control device 13 under evaluation. Furthermore, in the simulation system 80 of Figure 6, the external vehicle detection information, which is the first output of the external vehicle detection control device 123 operating in such a closed loop, can be output to the VDC control device 13 under evaluation, which is located outside the closed loop. Furthermore, the device evaluation device 90 can observe the operating state of the braking actuator 23, whose operation is controlled by the VDC control device 13 under evaluation, using the evaluation camera 92, and provide this information to the developer. This allows the developer to easily confirm if the oil level change according to the scenario in the simulation system 80 is not as desired, and to begin corrective work. Also, since the simulation system 80 in Figure 6 is based on the simulation system 60 in Figure 5, it is possible to store various information during scenario execution in the system. Therefore, richer information can be obtained as evaluation results than in the case of evaluation with an actual vehicle. By analyzing this information, the developer can easily determine the cause of the undesirable result and the corrective actions needed based on the evaluation results. If the evaluation results are unsatisfactory, the developer can easily and reliably determine whether the cause lies in the external detection control device 123 or the VDC control device 13.

[0066] In the above explanation of Figure 6, the wheel speed calculation unit 83 is implemented in the second behavior calculation unit 67 of the sub-simulation device 602 in Figure 5. In addition, for example, the wheel speed calculation unit 83 may be implemented in the first behavior calculation unit 63 of the main simulation device 601 shown in Figure 5. In this case, all information that the VDC control device 13 needs to acquire for automatic braking control, other than the external detection information generated by the external detection control device 123, is generated in the main simulation device 601 and relayed to the sub-simulation device 602.

[0067] Figure 7 is a schematic diagram illustrating the operating timing of the basic simulation system 60 in Figure 5 under the simulation system 80 in Figure 6. Figure 7 shows, from top to bottom, the information generated by the main simulation device 601 and the information generated by the sub-simulation device 602. Specifically, the information from the main simulation device 601 includes the external detection information output from the first external detection control device 121, the VDC data output from the VDC operation reproduction unit 81, and the disparity image generated by the camera image generation device 36. The information from the sub-simulation device 602 includes the external detection information output from the second external detection control device 122 and the VDC data output from the VDC control device 13. The VDC data output from the VDC control device 13 is output to the braking actuator 23. In Figure 7, time flows from left to right.

[0068] As shown in Figure 7, in the time slot at time t1, the main simulation device 601 outputs external detection information as the first output from the first external detection control device 121. The VDC operation reproduction unit 81 outputs VDC data. The camera image generation device 36 generates a disparity image. In the time slot at time t2, the main simulation device 601 outputs external detection information based on the parallax image processed at time t1, using the first external vehicle detection control device 121. The VDC operation reproduction unit 81 outputs VDC data. The camera image generation device 36 generates a parallax image. In the time slot at time t3, the main simulation device 601 outputs external detection information based on the parallax image processed at time t2, using the first external vehicle detection control device 121. The VDC operation reproduction unit 81 outputs VDC data. The camera image generation device 36 generates a parallax image.

[0069] While this control is performed in the main simulation device 601, the sub-simulation device 602 also performs control. In other words, in the time slot at time t1, the second external vehicle detection control device 122 of the sub-simulation device 602 outputs external vehicle detection information based on the disparity image generated in the main simulation device 601. The VDC control device 13 outputs VDC data to the braking actuator 23. At time slot t2, the second external vehicle detection control device 122 of the sub-simulation device 602 outputs external vehicle detection information based on the disparity image generated by the processing at time t1 in the main simulation device 601. The VDC control device 13 outputs VDC data to the braking actuator 23. In the time slot at time t3, the second external vehicle detection control device 122 of the sub-simulation device 602 uses the time generated in the main simulation device 601. t2 Based on the parallax image resulting from the processing, external vehicle detection information is output. The VDC control device 13 outputs VDC data to the braking actuator 23.

[0070] In this way, the main simulation device 601 and the sub-simulation device 602 can execute control operations at intervals of the time slots defined in the in-vehicle network 16. In the basic simulation system 60 of Figure 5, the main simulation device 601 and the sub-simulation device 602 can operate synchronously in accordance with the time slots defined in the in-vehicle network 16. For example, the second external vehicle detection control device 122 and the VDC control device 13 can input and output external vehicle detection information as the first output using time slots allocated in the vehicle for periodic communication through the in-vehicle network 16.

[0071] In Figure 7, the control operation period Tc0 of the simulation systems 60 and 80, the control operation period Tc1 of the main simulation device 601, and the control operation period Tc2 of the sub-simulation device 602 are all the same. The control operation period can basically be the same as the control period of the vehicle being evaluated. In contrast, the camera image generation device 36, which outputs information on the target to be detected to the first external vehicle detection control device 121 and the second external vehicle detection control device 122, updates the parallax image output to the camera's compound eye monitor 37 at intervals Tc3, which is shorter than the control period Tc0 to Tc2 of these time slots. In Figure 7, the parallax image is updated approximately three times within the control period Tc0 to Tc2 of one time slot. In this case, the parallax image update period Tc3 is short, about one-third of the control period Tc0 to Tc2 of the time slot.

[0072] As a result, the camera image generation device 36 can immediately update the disparity image when the VDC data is updated in each cycle Tc1. The camera image generation device 36 can update the output disparity image in each control cycle of the time slot. The first external vehicle detection control device 121 and the second external vehicle detection control device 122 can detect information about the target to be detected, which can be updated at a shorter interval than their operating cycle. In other words, because the target to be detected can be updated at a shorter interval than that of the time slot, the first external vehicle detection control device 121 and the second external vehicle detection control device 122 can each operate at the same timing as when they are operating in a vehicle.

[0073] Furthermore, as shown in Figure 5, the first external vehicle detection control device 121 and the second external vehicle detection control device 122 are connected to the same multi-lens external vehicle camera 22 and can receive the same external vehicle image as input. Therefore, the external vehicle detection information output by the first external vehicle detection control device 121 and the external vehicle detection information output by the second external vehicle detection control device 122 can be the same. Therefore, in the corresponding time slots at the top and bottom of Figure 7, it can be expected that the external vehicle detection information from the main simulation device 601 and the external vehicle detection information from the sub-simulation device 602 will be the same. Similarly, it can be expected that the VDC data generated based on the same external vehicle detection information will be the same in both the main simulation device 601 and the sub-simulation device 602. the result, braking Actuator 23 Although the sub-simulation device 602 operates based on the VDC data input of the VDC control device 13, it can be treated as if it were operating based on the VDC data of the main simulation device 601, which is performing closed-loop control.

[0074] Figure 8 is a flowchart illustrating the overall control flow for automatic brake evaluation in the simulation systems 60 and 80 of this embodiment. The simulation system 60 in Figure 5 and the simulation system 80 in Figure 6 can perform control based on a predetermined driving scenario of a vehicle, for example, in order to evaluate automatic braking. Here, an example of such a driving scenario is described. The flowchart in Figure 8 can be executed by multiple devices constituting the simulation systems 60 and 80 working together. Here, we will explain the flowchart in Figure 8, using as an example the case where the first behavior calculation unit 63 of the main simulation device 601 drives the automobile in the virtual space according to its driving scenario. Note that the automobile can also drive in the virtual space according to the operation of the control member 21 by the driver. Such driving scenarios may basically consist of information for the vehicle to travel from an initial position to an end position in the virtual space. The driving scenario information may consist of similar information to that output by the operation control device 11 to the main in-vehicle network 31 when the driver operates the operation member 21 to move the vehicle in the virtual space.

[0075] In step ST1 of Figure 8, the simulation systems 60 and 80 output the initial driving state. For example, the event generator 39 outputs the start event of the driving scenario, the driving environment generator 40 generates a virtual space at the initial position of the vehicle in the driving scenario, and the first behavior calculation unit 63 generates information for the vehicle to start driving from the initial position according to the driving scenario. The information generated here for starting the drive is, for example, when the driver operates the operating member 21 to start the vehicle driving. Operation control device 11 It can be the same as the output sent to the in-vehicle network 16.

[0076] In step ST2, the first behavior calculation unit 63 calculates the behavior of the vehicle and the driving state after the behavior based on the information it has generated for starting the vehicle. The first inter-device relay unit 70, provided in the first synchronous relay unit 61, acquires information on the vehicle's speed and acceleration, which are the driving state information after the behavior, from the main communication network 32, and outputs it to the second inter-device relay unit 71, provided in the second synchronous relay unit 66.

[0077] In step ST3, Monitor image generation device 35 Based on the position of the vehicle after the maneuver, the camera image generation device 36 generates a field of view image from the vehicle, and further generates a parallax image. The camera's multi-eye monitor 37 displays the parallax image after the maneuver.

[0078] In step ST4, the compound external camera 22 captures the parallax image after the action, which is displayed on the compound monitor 37 for the camera.

[0079] In step ST5, the first external vehicle detection control device 121 analyzes the external vehicle image captured by the compound external vehicle camera 22 and outputs external vehicle detection information to the main in-vehicle network 31. The first synchronous relay device 61 acquires external vehicle detection information from the main in-vehicle network 31 and outputs it to the main communication network 32. In addition, the first inter-device relay unit 70 provided in the first synchronous relay device 61 acquires external vehicle detection information from the main in-vehicle network 31 and outputs it to the second inter-device relay unit 71 provided in the second synchronous relay device 66. The second synchronous relay device 66 outputs external vehicle detection information acquired from the main simulation device 601 to the sub-in-vehicle network 64. Here, if there are no obstacles in the direction of travel of the vehicle in the virtual space, the first external vehicle detection control device 121 may or may not output external vehicle detection information. In this case, the simulation systems 60 and 80 do not execute the processes from step ST6 to step ST8. In contrast, if, for example, the driving scenario progresses to a certain extent and an obstacle exists in the direction of travel of the vehicle in the virtual space, the simulation systems 60 and 80 execute the processes from step ST6 to step ST8. Details will be described later.

[0080] In step ST9, the first behavior calculation unit 63 calculates the current behavior and driving state of the vehicle using the previous behavior and driving state of the vehicle and newly acquired information from the main communication network 32. At this time, if there is a driving obstacle in the direction of travel of the vehicle in the virtual space and significant external detection information is generated, the first behavior calculation unit 63 first performs calculation processing as the VDC operation reproduction unit 81 based on the external detection information. After that, the first behavior calculation unit 63 calculates the behavior and driving state of the vehicle after the VDC operation. As a result, the driving state of the vehicle is updated.

[0081] In step ST10, the simulation systems 60 and 80 determine whether or not to start evaluating the automatic brakes. The decision in step ST10 may be made by, for example, the first behavior calculation unit 63. The first behavior calculation unit 63 may determine whether or not to start evaluating the automatic brakes based, for example, whether or not the speed of the car traveling in the virtual space is a speed suitable for evaluating the automatic brakes. If the evaluation of the automatic brakes is not started, the first behavior calculation unit 63 returns the process to step ST1. The simulation systems 60 and 80, including the first behavior calculation unit 63, repeat the process from step ST1 to step ST10 until they decide to start evaluating the automatic brakes in step ST10. If they decide to start evaluating the automatic brakes in step ST10, the simulation systems 60 and 80, including the first behavior calculation unit 63, proceed the process to step ST11.

[0082] In step ST11, the simulation systems 60 and 80 output evaluation events. The event generator 39 outputs a driving obstruction in front of the vehicle in the direction of travel in the virtual space. The driving environment generator 40 generates a virtual space including the driving obstruction as the virtual space at the vehicle's current position. Monitor image generation device 35 Based on the vehicle's current position, the camera image generation device 36 generates a field of view image from the vehicle, and then generates a parallax image. As a result, the camera's multi-eye monitor 37 displays the parallax image, which includes images of obstacles to the vehicle's movement. Consequently, in step ST5, the first external vehicle detection control device 121 analyzes the external vehicle image captured by the multi-eye external vehicle camera 22 and outputs significant external vehicle detection information to the main in-vehicle network 31. The second external vehicle detection control device 122 also analyzes the external vehicle image captured by the multi-eye external vehicle camera 22 and outputs significant external vehicle detection information to the sub-in-vehicle network 64. In this case, the simulation systems 60 and 80 execute the processes from step ST6 to step ST8.

[0083] In step ST6, the VDC control device 13 of the sub-simulation device 602 acquires external detection information output to the sub-in-vehicle network 64 by the second external detection control device 122 from the sub-in-vehicle network 64, and executes braking control for automatic braking. The VDC control device 13 generates VDC data according to the vehicle's wheel speed, speed, acceleration, etc., and outputs it to the braking actuator 23. In step ST7, the braking actuator 23 performs a braking action for automatic braking. In step ST8, the evaluation camera 92 captures images of the change in oil level based on the operation of the braking actuator 23. The images captured by the evaluation camera 92 are output to the evaluation UI device 91 and displayed on the monitor of the evaluation UI device 91. This allows the developer to check the results of the control and operation for automatic braking while driving in a virtual space in a driving scenario using the evaluation UI device 91.

[0084] In step ST12, the simulation systems 60 and 80 determine whether or not to terminate the evaluation of the automatic braking system. The decision in step ST12 may be made by, for example, the first behavior calculation unit 63. The first behavior calculation unit 63 may decide to terminate the evaluation of the automatic braking system if, for example, the speed of the vehicle traveling in the virtual space is 0 km / h or a speed that has been sufficiently reduced to be close to 0 km / h by the automatic braking system. If it does not decide to terminate the evaluation of the automatic braking system, the first behavior calculation unit 63 returns the process to step ST2. After deciding to start the evaluation of the automatic braking system in step ST10, the simulation systems 60 and 80, including the first behavior calculation unit 63, repeat the process from step ST2 to step ST12 until it decides to terminate the evaluation in step ST12. If it decides to terminate the evaluation of the automatic braking system in step ST12, the simulation systems 60 and 80, including the first behavior calculation unit 63, proceed to step ST13.

[0085] In step ST13, the simulation systems 60 and 80 evaluate the evaluation results. Each device of the simulation systems 60 and 80 may output various data acquired during the evaluation to the evaluation UI device 91 or the like via a communication network (not shown) and record it in the evaluation UI device 91 or the like. This allows the developer to comprehensively evaluate the control operation of the automatic brakes based on the driving scenario, including the operation of the braking actuator 23, using the evaluation UI device 91. Furthermore, the developer can quickly identify the targets for modification based on the evaluation results and modify the VDC control device 13 under evaluation, or modify the external detection control device 12 used in conjunction with it.

[0086] In this way, by executing the evaluation control shown in Figure 8 based on the driving scenario, the simulation systems 60 and 80 control the VDC control device 13, which is the target of evaluation, to the braking actuator. 23 The system can execute control to operate the system. Developers can then verify the evaluation results using the evaluation UI device 91, etc. Furthermore, the simulation systems 60 and 80 can acquire VDC data, which is the output of the VDC control device 13, along with the change in oil level based on the operation of the braking actuator. The simulation systems 60 and 80 can also acquire information during the evaluation of the output of the second external detection control device 122, which operates together with the VDC control device 13 during the evaluation of the automatic brake, and the output of the first external detection control device 121, which outputs something equivalent. By comparing this information during the evaluation of the automatic brake, developers can easily understand which devices need to be modified and what modifications need to be made to obtain the desired results. Figure 8 shows that the simulation systems 60 and 80 are performing evaluations by executing driving scenarios. 80Similar to the simulation system 30 in Figure 3, the main simulation device 601 is operable by a driver. The simulation systems 60 and 80 may execute a driving scenario and perform an evaluation by having a driver operate the operating member 21 according to a predetermined driving scenario.

[0087] As described above, in this embodiment, the external detection control device 12, which outputs a first output as external detection information to the VDC control device 13 in the automobile, operates in an environment that simulates the automobile's control system 10 by connecting to the main in-vehicle network 31 of the main simulation device 601. The VDC control device 13, which is the subject of evaluation and receives the first output of the external detection control device 12 in the automobile, is not connected to the main in-vehicle network 31 of the main simulation device 601, but to a separate sub-in-vehicle network 64 of a sub-simulation device 602. As a result, in this embodiment, the external vehicle detection control device 12 can operate in an environment that simulates the vehicle's control system 10 in the main simulation device 601 without being affected by the operation of the VDC control device 13. The external vehicle detection control device 12 can operate reliably in an environment that simulates the vehicle's control system 10, as shown in Figure 5, without being affected by the operation of the VDC control device 13. As a result, the first output that the external vehicle detection control device 12 outputs to the VDC control device 13 can be a reliable output that is not affected by the operation of the VDC control device 13 being evaluated. Furthermore, the VDC control device 13, which is connected to the sub-in-vehicle network 64 of the sub-simulation device 602, which is separate from the main in-vehicle network 31 of the main simulation device 601, operates according to the information generated by the main simulation device 601, which operates together with the external vehicle detection control device 12. As a result, even though the VDC control device 13 is connected to the sub-in-vehicle network 64 of the sub-simulation device 602, it can operate as if it were connected to the main in-vehicle network 31 of the main simulation device 601 together with the external vehicle detection control device 12. As a result, the VDC control device 13, which operates in an automobile when the first output of the external detection control device 12 is input, can be evaluated in the automobile simulation system 60 of this embodiment under conditions that mimic the automobile's control system 10. Even if the VDC control device 13 is not installed in an automobile together with the external detection control device 12, it is possible to evaluate its coordinated operation with the external detection control device 12 in the automobile simulation system 60 of this embodiment. The VDC control device 13 can be evaluated in a conditions that mimic the automobile's control system 10 and under conditions where the external detection control device 12 is likely to be operating. In this embodiment, the VDC control device 13, which operates in conjunction with the external detection control device 12 in an automobile when the first output of the external detection control device 12 is input, can be easily evaluated in a simulation system that does not rely on an automobile.

[0088] [Second Embodiment] Next, a second embodiment of the present invention will be described. In this embodiment, components similar to those in the above-described embodiment will be shown using the same reference numerals and will not be shown or described, and the differences from the above-described embodiment will be described in detail. This embodiment describes a configuration that improves upon the basic configuration of the automobile simulation system 60 shown in Figure 5, enabling the simultaneous evaluation of multiple vehicles.

[0089] Figure 9 is an explanatory diagram illustrating the basic configuration of an automobile simulation system 110 according to a second embodiment of the present invention. The automobile simulation system 110 in Figure 9 comprises one main simulation device 601 and multiple sub-simulation devices 602. In Figure 9, the multiple sub-simulation devices 602 are shown as a first sub-simulation device 112, a second sub-simulation device 113, and a third sub-simulation device 114. Note that the number of sub-simulation devices 602 provided in the simulation system 110 may be two, four or more.

[0090] The main simulation device 601 has the same configuration as in Figure 5. However, in Figure 9, due to space limitations, only the first synchronous relay device 61, which has the first inter-device relay unit 70, is shown. The first sub-simulation device 112 to the third sub-simulation device 114 have the same configuration as in Figure 5. However, in Figure 9, due to space limitations, only the second synchronous relay device 66, which has the second inter-device relay unit 71, is shown. The second inter-device relay unit 71 of the first sub-simulation device 112, the second inter-device relay unit 71 of the second sub-simulation device 113, and the second inter-device relay unit 71 of the third sub-simulation device 114 are connected to the first inter-device relay unit 70 of the main simulation device 601.

[0091] In this configuration, the main simulation device 601 performs closed-loop control similar to the embodiment described above. The first inter-device relay unit 70 then outputs the information generated in the main simulation device 601 to the second inter-device relay unit 71 of the first sub-simulation device 112, the second inter-device relay unit 71 of the second sub-simulation device 113, and the second inter-device relay unit 71 of the third sub-simulation device 114 simultaneously and in parallel. As a result, the VDC control device 13 installed in the first sub-simulation device 112 can acquire information that is lacking in the first sub-simulation device 112 from the main simulation device 601. Furthermore, the VDC control device 13 installed in the second sub-simulation device 113 can acquire information that is lacking in the second sub-simulation device 113 from the main simulation device 601. Furthermore, the VDC control device 13 installed in the third sub-simulation device 114 can acquire information that is lacking in the third sub-simulation device 114 from the main simulation device 601. As a result, the VDC control device 13 of the first sub-simulation device 112, the VDC control device 13 of the second sub-simulation device 113, and the VDC control device 13 of the third sub-simulation device 114 can simultaneously and in parallel perform control to operate the brake actuators 23 connected to each of them. In this case, the first external imaging device included in the closed loop of the main simulation device 601 can operate reliably without being affected by the control operations of the multiple VDC control devices 13 being evaluated.

[0092] The embodiments described above are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications or changes are possible without departing from the spirit of the invention. [Explanation of Symbols]

[0093] 10... Vehicle control system (vehicle control system), 11... Operation control device, 12... External detection control device (first device, input side control device), 13... VDC control device (second device, output side control device), 14... Meter control device, 15... Detection control device, 16... In-vehicle network, 21... Operating component, 22... Compound eye external camera, 23... Brake actuator (actuator), 24... Meter panel, 25... Speaker, 26... Wheel speed sensor, 27... Acceleration sensor, 28... Speed ​​sensor, 30... Simulation 31…Main in-vehicle network, 32…Main communication network, 33…Synchronization relay device, 34…Behavior calculation device, 35…Monitor image generation device, 36…Camera image generation device (part of the detection target output device), 37…Multi-eye monitor for camera (part of the detection target output device), 38…Driver monitor, 39…Event generation device, 40…Driving environment generation device, 48…Vehicle control system reproduction unit, 50…Computer device, 51…Communication port, 52…Timer, 53…Memory, 54...CPU, 55...Internal bus, 60,80...Simulation system, 61...First synchronous relay device, 63...First behavior calculation device, 64...Sub-in-vehicle network, 65...Sub-communication network, 66...Second synchronous relay device, 67...Second behavior calculation device (input calculation unit), 69...Direct line, 70...First inter-device relay unit (part of inter-device relay device), 71...Second inter-device relay unit (part of inter-device relay device), 81...VDC operation reproduction unit (second device reproduction unit), 82...Vehicle behavior calculation unit, 83...Vehicle Wheel speed calculation unit, 90... Device evaluation device (detection device), 91... Evaluation UI device, 92... Evaluation camera, 110... Simulation system, 112... First sub-simulation device, 113... Second sub-simulation device, 114... Third sub-simulation device, 121... First external vehicle detection control device (first input side control device), 122... Second external vehicle detection control device (second input side control device), 601... Main simulation device, 602... Sub-simulation device

Claims

1. A vehicle simulation system for operating a second device that operates based on the output of a first device in a vehicle, The first device is connected to the main in-vehicle network to operate as a main simulation device in an environment that simulates the vehicle's control system, A sub-simulation device that operates the second device in an environment that simulates the vehicle's control system by connecting it to a sub-in-vehicle network separate from the main in-vehicle network, An inter-device relay device that outputs information generated in the main simulation device to the sub-simulation device in which the second device operates, It has, The second device connected to the sub-in-vehicle network operates according to the information generated by the main simulation device on which the first device operates. A vehicle simulation system.

2. The first device is an input-side control device that detects an object that may change in the vehicle in accordance with the vehicle's driving state and outputs a first output to the second device via the main in-vehicle network. The second device is an output-side control device in the vehicle that acquires the first output from the main in-vehicle network and controls the operation of the vehicle's actuators, which can change the vehicle's behavior according to the first output. The main simulation device, The first input-side control device, which is the first device, is connected to the main in-vehicle network. A first synchronous relay device connected to the main in-vehicle network, which relays the first output that the first input-side control device outputs to the main in-vehicle network, A second device reproduction unit acquires the first output through the first synchronous relay device and reproduces the control output of the second device or the operating output of the actuator corresponding to the first output, A vehicle behavior calculation unit calculates the behavior of the vehicle using the output of the second device reproduction unit, A detection target output device that generates information including the detection target of the input-side control device using the calculation results of the vehicle behavior calculation unit and causes the first input-side control device to detect it, It has, The first synchronous relay device, the second device reproduction unit, the vehicle behavior calculation unit, the detection target output device, and the first input-side control device form a closed loop, thereby operating the first input-side control device, which operates in an environment simulating the vehicle's control system, while the vehicle is in motion. A vehicle simulation system according to claim 1.

3. The aforementioned sub-simulation device is The output-side control device, which is the second device, and the second input-side control device, which is the first device, are connected to the sub-in-vehicle network. The second input-side control device detects the detection target generated by the detection target output device of the main simulation device for the first input-side control device, and outputs the first output to the sub-in-vehicle network. A vehicle simulation system according to claim 2.

4. The input-side control device and the output-side control device input and output the first output using time slots allocated in the vehicle for periodic communication through the main in-vehicle network. The detection target output device, which outputs information including the detection target to the first input-side control device and the second input-side control device, updates the information including the detection target at a shorter interval than that of the time slot. A vehicle simulation system according to claim 3.

5. The aforementioned sub-simulation device is The output-side control device acquires information generated in the main simulation device through the inter-device relay device, and the input calculation unit generates information acquired by the output-side control device through the sub-in-vehicle network from devices other than the input-side control device, which is the first device. A second synchronous relay device connected to the input calculation unit and the sub-vehicle network, which outputs the information generated by the input calculation unit to the sub-vehicle network, Having, A vehicle simulation system according to claim 4.

6. The actuator is connected to the output-side control device. A detection device is provided to detect the operation of the actuator. A vehicle simulation system according to claim 5.

7. The system comprises multiple sub-simulation devices. A vehicle simulation system according to claim 6.

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