Simulation system for vehicle

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

Vehicle Simulation System

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

[0002] A vehicle is provided with a number of control devices in its control system, as in Patent Document 1, for example. Each control device is connected to various sensors and actuators. Final operational checks and evaluations of each device provided in such a vehicle control system are performed by actually running the vehicle with each of the devices actually incorporated into the vehicle's control system. Furthermore, for mass-produced vehicles and after-sales vehicles, each device is also performed by actually running the vehicle with each device actually incorporated into the vehicle's control system. Even when checking and evaluating the operation of one item of one device, the driver is required to actually run the vehicle multiple times.

[0003] Japanese Patent Application Laid-Open No. 2018-144526

[0004] Meanwhile, developments are underway to improve the driving safety and convenience of vehicles. For example, developments are underway for devices such as ADAS (Advanced Driver-Assistance Systems) for automatic braking and autonomous driving. For this reason, vehicle control systems will become more advanced and complex than current systems in the future. As vehicle control systems become more advanced and complex, the number of items and evaluation contents for operation checks of each control device, each sensor, and each actuator provided in the control system are expected to increase. As the various control devices, sensors, and actuators provided in vehicle control systems become more advanced and complex, the number of evaluation steps and time required to more accurately evaluate each operation are expected to increase dramatically.

[0005] Thus, in a vehicle, it is required to easily evaluate the control operations of various devices used in the control system.

[0006] A vehicle simulation system according to one embodiment of the present invention is a vehicle simulation system for operating a second device in a vehicle that operates based on the output of a first device, and includes a main simulation device that operates the first device in an environment that simulates the control system of the vehicle by connecting it to a main in-vehicle network, a sub-simulation device that operates the second device in an environment that simulates the control system of the vehicle 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, and 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.

[0007] In the present invention, a first device provided in a vehicle operates in an environment simulating the vehicle's control system by connecting to a main in-vehicle network of a main simulation device. A second device to be evaluated, which operates based on the output of the first device in the vehicle, is connected to a sub-in-vehicle network of a sub-simulation device, separate from the main in-vehicle network of the main simulation device. This allows the first device to operate in an environment simulating the vehicle's control system in the main simulation device without being affected by the operation of the second device to be evaluated. The first device can operate reliably in an environment simulating the vehicle's control system without being affected by the operation of the second device. As a result, the first output output by the first device in the main simulation device can be reliably unaffected by the operation of the second device to be evaluated. Furthermore, the second device, which is connected to a sub-in-vehicle network of a sub-simulation device, separate from the main in-vehicle network of the main simulation device, operates in accordance with information generated by the main simulation device. This allows the second device, despite being connected to the sub-in-vehicle network of the sub-simulation device, to operate as if it were connected to the main in-vehicle network of the main simulation device together with the first device. As a result, the second device that operates based on the output of the first device in the vehicle can be evaluated for its operation in an environment that simulates the vehicle's control system in the vehicle simulation system of the present invention. The second device can operate in cooperation 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 evaluate its cooperative operation with the first device in an environment that simulates the vehicle's control system and in which the first device is operating reliably. In the present invention, the second device that operates in cooperation with the first device in the vehicle based on the output of the first device in the vehicle control system can be operated in a vehicle-independent simulation system, and its operation can be easily evaluated.In this way, the present invention makes it possible to easily evaluate the control operations of various devices used in the vehicle control system.

[0008] FIG. 1 is an explanatory diagram of an example of the configuration of an automobile control system. FIG. 2 is an explanatory diagram of control and operation for automatic braking in the automobile of FIG. 1. FIG. 3 is an explanatory diagram of an example of the basic configuration of an automobile simulation system that can be used to evaluate the operation of the automobile control system of FIG. 1. FIG. 4 is an explanatory diagram of an example of a computer device that can be used as the behavior calculation device of FIG. 3. FIG. 5 is an explanatory diagram of the basic configuration of an automobile simulation system according to a first embodiment of the present invention. FIG. 6 is a block diagram of a simulation system realized under the basic configuration of FIG. 5 for evaluating automobile operation. FIG. 7 is a schematic explanatory diagram showing the operation timing of the basic simulation system of FIG. 5 under the simulation system of FIG. 6. FIG. 8 is a flowchart explaining the overall control flow for evaluating the operation of automatic braking in the simulation system of this embodiment. FIG. 9 is an explanatory diagram of the basic configuration of an automobile simulation system according to a second embodiment of the present invention.

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

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

[0011] The vehicle control system 10 of FIG. 1 includes an in-vehicle network 16 to which multiple control devices are connected. The in-vehicle network 16 may be a network conforming to an automotive standard, such as a Controller Area Network (CAN) or a Local Interconnect Network (LIN). Such an in-vehicle network 16 typically includes multiple bus cables and a central gateway (CGW) to which the multiple bus cables are bus-connected. The multiple control devices may be distributed and connected to the 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 each packet on each bus cable and routes the packets among the multiple bus cables. Using such an in-vehicle network 16, the multiple control devices installed in the vehicle can exchange necessary information with each other while performing their own control. The multiple control devices provided in the automobile can cooperate to control the traveling of the automobile, etc. In Fig. 1, the multiple control devices connected to the in-vehicle network 16 are exemplified by an operation control device 11, an outside-vehicle 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 operation members 21 operated by an occupant such as a driver of the vehicle. The operation members 21 include, for example, a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and the like, which are operated by the occupant to change the behavior of the vehicle. The operation control device 11 detects the operation of the operation members 21 by the occupant and outputs the detected operation information to the in-vehicle network 16.

[0013] To the exterior detection control device 12, for example, a compound eye exterior camera 22 is connected to detect obstacles outside the vehicle, which are the environment surrounding the vehicle while it is moving. Other devices such as a monocular camera or Lidar may also be connected to the exterior detection control device 12. The compound eye exterior camera 22 may be composed of multiple cameras arranged to generate a predetermined parallax. Any camera capable of capturing an image in a predetermined direction may be used, such as a 360-degree camera. Furthermore, multiple cameras for capturing an image of the 360-degree area around the vehicle may be connected to the exterior detection control device 12. The exterior detection control device 12 receives exterior images captured by the compound eye exterior camera 22 from the compound eye exterior camera 22 or the like. The exterior detection control device 12 may analyze the acquired exterior images to extract obstacles, traffic signals, road signs, railroad crossings, etc. Here, obstacles to travel may be, for example, pedestrians, oncoming vehicles, bicycles, preceding vehicles, following vehicles, or fallen objects on the road. The outside-vehicle detection control device 12 may also determine the relative distance and direction from the vehicle to the obstacle, and if the obstacle is located within a predetermined distance on the path of the vehicle, output outside-vehicle detection information about the obstacle in the path to the in-vehicle network 16. Here, the outside-vehicle detection information may be, for example, information warning about an approaching obstacle, such as a preceding vehicle. In this case, the vehicle control system 10 may notify the occupants of this fact and execute control for automatic braking by decelerating and stopping the vehicle. The vehicle control system 10 may also execute control to swerve away from the obstacle by, for example, steering control.

[0014] The VDC controller 13 is connected to actuators of devices for controlling the traveling of the vehicle. FIG. 1 illustrates a brake actuator 23 of a braking device. The VDC controller 13 then executes traveling control to enhance the traveling safety of the vehicle. For example, the VDC controller 13 controls the braking operation of the brake actuator 23 so that the brake actuator 23 performs a braking operation. This allows the vehicle to decelerate and ultimately stop. Furthermore, if a steering actuator of a steering device is connected, the VDC controller 13 may further control the steering operation of the steering actuator so that the vehicle swerves away from a traveling obstacle. Additionally, for example, when the vehicle is traveling around a curved corner, the VDC controller 13 may control the operation of the brake actuator 23, the steering actuator, and the like to stabilize the vehicle body posture during cornering. In this case, the VDC controller 13 may control the braking, steering, and other operations of some of the wheels of the vehicle. In this way, the behavior of the vehicle can be changed by the control operation of the VDC controller 13. Furthermore, changes in the behavior of the vehicle also change the vehicle's driving conditions, such as speed and acceleration. The VDC control device 13 can control the driving conditions of the vehicle. When the VDC control device 13 receives significant outside-vehicle detection information from the in-vehicle network 16 based on the presence of a driving obstruction in the vehicle's direction of travel, the VDC control device 13 may control the braking operation of the brake actuator 23 so that the vehicle stops before the driving obstruction. On the other hand, when the VDC control device 13 receives insignificant outside-vehicle detection information indicating that there is no driving obstruction in the vehicle's direction of travel, the VDC control device 13 does not need to execute control to operate the brake actuator 23, etc.

[0015] A meter panel 24 is connected to the meter control device 14. The meter panel 24 is provided on the dashboard of the vehicle, for example. As a result, the meter panel 24 can be provided in front of the driver, who is a passenger in 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 displays information indicating the vehicle's driving status, such as the vehicle's speed and warning messages, on the meter panel 24. In this embodiment, a speaker 25 is also connected to the meter control device 14. For example, when the meter control device 14 acquires outside vehicle detection information from the in-vehicle network 16 based on the presence of a travel obstruction in the vehicle's direction of travel, the meter control device 14 displays a corresponding warning message on the meter panel 24 and outputs a warning sound from the speaker 25. These warnings enable the passengers of the vehicle to pay attention to the direction of travel of the vehicle and recognize that an object in the vehicle's direction of travel is a travel obstruction in the vehicle's path.

[0016] Various sensors provided in the vehicle are connected to the detection control device 15. FIG. 1 illustrates a wheel speed sensor 26, an acceleration sensor 27, and a speed sensor 28. 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 triaxial sensor capable of detecting acceleration in each of 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 then output information detected by these sensors, such as information on 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 information detected by the sensors to the in-vehicle network 16.

[0017] Figure 2 is an explanatory diagram of the control and operation for automatic braking in the automobile of Figure 1. Figure 2 shows the compound eye outside vehicle camera 22, the outside vehicle detection control device 12, the VDC control device 13, and the brake actuator 23 in the control system 10 of the automobile of Figure 1. In Figure 2, time flows from the left to the right of the page.

[0018] Then, as shown in FIG. 2 , at time t1, the compound eye exterior camera 22 captures an image of the exterior of the vehicle in the current driving state of the vehicle and outputs the exterior image. The exterior detection control device 12 analyzes the exterior image and outputs exterior detection information regarding obstacles to driving, etc. When the VDC control device 13 acquires the exterior detection information, it executes control according to the content of the information, generates VDC data, and outputs it to the brake actuator 23, etc. The brake actuator 23 operates in accordance with the VDC data. This changes the behavior of the vehicle and the driving state of the vehicle. Here, VDC data refers to control information that the VDC control device 13 generates to control the operation of the brake actuator 23, etc., and outputs to the brake actuator 23, etc.

[0019] At time t2, the compound-eye exterior camera 22 captures an image of the exterior of the vehicle in the driving state of the vehicle after the change and outputs the exterior image. The exterior detection control device 12 analyzes the exterior image and outputs exterior detection information regarding obstacles to driving, etc. Upon acquiring the exterior detection information, the VDC control device 13 generates and outputs VDC data. The brake actuator 23 operates in accordance with the VDC data. This changes the behavior of the vehicle and the driving state of the vehicle.

[0020] At time t3, the compound-eye exterior camera 22 captures an image of the exterior of the vehicle in the driving state of the vehicle after the change and outputs the exterior image. The exterior detection control device 12 analyzes the exterior image and outputs exterior detection information regarding obstacles to driving, etc. Upon acquiring the exterior detection information, the VDC control device 13 generates and outputs VDC data. The brake actuator 23 operates in accordance with the VDC data. This changes the behavior of the vehicle and the driving state of the vehicle.

[0021] In this way, the vehicle control system 10 can control the vehicle's driving so that it stops in front of an obstacle to driving by having multiple devices work together and repeatedly executing control operations at a predetermined cycle.

[0022] 2 are merely illustrative examples, but in an automobile using a CAN or the like, the vehicle exterior detection control device 12 and the VDC control device 13 input and output vehicle exterior detection information at the cycle of the time slots assigned by the CAN. That is, the vehicle exterior detection control device 12 outputs the vehicle exterior detection information to the in-vehicle network 16 at the timing of the assigned time slot. The VDC control device 13 acquires the vehicle exterior detection information as time slot information from the in-vehicle network 16 at the assigned timing. In this way, the vehicle exterior detection control device 12 and the VDC control device 13 input and output vehicle exterior detection information as a first output using the time slots assigned for periodic communication via the in-vehicle network 16 in the automobile.

[0023] As described above, the vehicle control system 10 is provided with multiple control devices that cooperate with each other. Furthermore, various sensors and actuators are connected to each control device. For example, when developing a new vehicle, the various control devices used in the vehicle, such as the multi-eye external vehicle camera 22 as an input device, sensors, and actuators as output devices, must undergo individual bench tests and then undergo final operational testing after being incorporated into the control system 10. Currently, evaluation of the incorporated devices in the vehicle control system 10 is performed by actually driving the vehicle. In particular, the final operational check and evaluation of a newly developed device is performed by incorporating the device into the vehicle along with other devices and then actually driving the vehicle. Even when checking and evaluating the operation of a single item, the driver is required to actually drive the vehicle multiple times. Evaluation during vehicle development requires a huge number of steps and a lot of time.

[0024] Developments are underway to improve the driving safety and convenience of automobiles. For example, developments are underway for devices such as ADAS for automatic braking and autonomous driving. For this reason, automobile control systems 10 are expected to become more advanced and complex than current systems. As automobile control systems 10 become more advanced and complex, the number of items and evaluation contents for operation checks of each control device, sensor, and actuator provided in the control system 10 are also expected to increase. As the various control devices, sensors, and actuators provided in the increasingly advanced and complex automobile control system 10 are evaluated, the number of evaluation steps and time required to evaluate their operation more reliably are expected to increase dramatically.

[0025] As described above, in an automobile, it is required to easily evaluate the operation of various devices used in the control system 10. However, such evaluation of operation is not limited to the development of a new automobile. For example, evaluation of the operation of devices in mass-produced automobiles and devices in automobiles after sale may also be required. Currently, evaluation of the operation of such mass-produced automobiles and automobiles after sale is basically performed by actually driving the automobile with the devices installed in the automobile. Next, an automobile simulation system independently developed by the inventor for use in such evaluation will be described.

[0026] FIG. 3 is an explanatory diagram of 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 of FIG.

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

[0028] In addition to the in-vehicle network 16, the simulation system 30 in FIG. 3 also includes a main communication network 32, a synchronization relay device 33, an event generation device 39, a driving environment generation device 40, a behavior calculation device 34, a monitor image generation device 35, a driver's monitor 38, a camera image generation device 36, and a compound eye monitor for cameras 37.

[0029] The main communication network 32 may be a communication network commonly used for communication between computer devices. For example, such a communication network may conform to the IEEE (Institute of Electrical and Electronics Engineers) 802.3 standard. A synchronization relay device 33, an event generation device 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 are connected to the main communication network 32. These devices connected to the main communication network 32 can transmit and receive information to and from each other, for example, via packet communication.

[0030] The synchronization relay device 33 is connected to the main communication network 32 and the in-vehicle network 16. The synchronization 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 synchronization relay device 33. Information from the main communication network 32 can be output to the in-vehicle network 16 via the synchronization 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 via the synchronization relay device 33. Furthermore, the synchronization relay device 33 may not relay all of the information from the in-vehicle network 16 to the main communication network 32 or all of the information from the main communication network 32 to the in-vehicle network 16, but may filter and relay only a portion of the information. The in-vehicle network 16 is basically an in-vehicle network 16 built into an automobile. As described above, in the in-vehicle network 16 of an automobile, the type and timing of communication information are defined by time slots, etc. The synchronization relay device 33 may relay only the information that is lacking 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 synchronization relay device 33 may relay only the information that is needed on 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 generation device 39 generates events in the virtual space when the car is traveling in the virtual space. The event generation device 39 stores in advance information on the position and time of events such as pedestrians, oncoming vehicles, bicycles, preceding vehicles, following vehicles, fallen objects on the road, traffic lights, and railroad crossings, generates event information at that time and position in the virtual space, and outputs it to the main communication network 32.

[0032] The driving environment generation device 40 stores in advance high-precision three-dimensional space data, such as high-precision map data, and predetermined scenario data for vehicle driving. When a vehicle is driven in a virtual space, the driving environment generation device 40 generates a virtual space around the vehicle based on the vehicle's position in the virtual space, based on the three-dimensional space data and the scenario. When the driving environment generation device 40 acquires event information from the main communication network 32, it places an object corresponding to the event in the virtual space related to the event information. The driving environment generation device 40 outputs the vehicle position information and 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 traveling in the virtual space. For example, the behavior calculation device 34 calculates the current behavior and traveling state of the vehicle using the previous behavior and traveling state of the vehicle and information obtainable from the main communication network 32. The behavior calculation device 34 may obtain, from the main communication network 32, operation information of the operating member 21, control information of the VDC control device 13 such as the VDC data described above, and the like. This allows the behavior calculation device 34 to calculate the behavior and traveling state of the vehicle in accordance with the operation of the operating member 21, the control of the VDC control device 13, and the like. The behavior calculation device 34 basically calculates the behavior of the vehicle, such as speed, acceleration, pitch, roll, and yaw, based on information regarding the control operation of the vehicle. Furthermore, the behavior calculation device 34 may further calculate the traveling state of the vehicle after the calculated behavior based on the calculated behavior. The behavior calculation device 34 outputs the information on the vehicle's behavior and traveling state that it generates to the main communication network 32.

[0034] A driver's monitor 38 is connected to the monitor image generating device 35. The driver's monitor 38 displays a field of view image from the vehicle to the driver of the simulation system 30. The monitor image generating device 35 acquires information on the vehicle's position, information on the virtual space, information on the vehicle's behavior and driving status, etc. from the main communication network 32, and generates a field of view image of the three-dimensional virtual space as viewed from the vehicle's position. The monitor image generating device 35 may basically generate a field of view image of a range including the forward direction from the vehicle, which is the direction of travel of the vehicle. The monitor image generating device 35 outputs the generated field of view image to the driver's monitor 38 and the camera image generating device 36. As a result, a field of view image of the virtual space as viewed from the vehicle driving in the virtual space is displayed on the driver's monitor 38. The driver can drive through the virtual space using the field of view image that changes in response to the operation of the operating member 21 in the simulation system 30.

[0035] A camera compound eye monitor 37 is connected to the camera image generation device 36. The camera compound eye monitor 37, together with the vehicle's compound eye vehicle exterior camera 22, constitutes a camera module. The camera compound eye monitor 37 has multiple monitors that correspond one-to-one to each of the multiple cameras that constitute the compound eye vehicle exterior camera 22. In the camera module, each monitor of the camera compound eye monitor 37 may be disposed opposite a corresponding camera of the compound eye vehicle exterior 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 compound eye monitor 37. Note that the camera image generation device 36 may also acquire information on the vehicle's position, virtual space, vehicle behavior, and driving status from the main communication network 32 and directly generate multiple parallax images from these. The camera image generation device 36 outputs the generated multiple parallax images to the camera compound eye monitor 37. The camera compound eye monitor 37 displays, on its multiple monitors, parallax images equivalent to those seen by the driver. The vehicle's compound eye exterior camera 22 can capture parallax images using its multiple cameras. This allows the vehicle's compound eye exterior camera 22 to capture parallax images seen from the vehicle traveling in the virtual space in the simulation system 30. The camera image generation device 36 may also obtain 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 traveling state itself.

[0036] FIG. 4 is an explanatory diagram of an example of a computer device 50 that can be used as the behavior calculation device 34 of FIG. 3 . Note that evaluation devices other than the behavior calculation device 34 in the simulation system 30 of FIG. 3 , such as the driving environment generation device 40, the event generation device 39, the monitor image generation device 35, the camera image generation device 36, and the synchronization relay device 33, may also use a computer device 50 similar to that of FIG. 4 . Furthermore, the multiple evaluation devices of FIG. 3 may be integrated into a single computer device 50. When integrating the evaluation devices, it is advisable to consider the processing load of each evaluation device. Furthermore, if the processing load of one evaluation device in FIG. 3 is high, that evaluation device may be distributed across multiple computer devices 50. Basically, each evaluation device of FIG. 3 needs to be implemented in the simulation system 30 so as not to delay time slot communication in the vehicle's in-vehicle network 16.

[0037] The computer device 50 in FIG. 4 includes a communication port 51, a timer 52, a memory 53, a CPU (Central Processing Unit) 54, and an internal bus 55 to which these are connected. The communication port 51 is connected to the main communication network 32 of the simulation system 30. The timer 52 measures time or duration. The memory 53 stores the calculation program executed by the CPU 54, setting data, etc. The memory 53 may be composed of a non-volatile memory such as a hard disk device (HDD), a solid state device (SSD), or a read-only memory (ROM), and a volatile memory such as a random access memory (RAM). In this case, the calculation program, setting data, etc. may be stored in the non-volatile memory. The CPU 54 reads and executes the calculation program stored in the memory 53. This realizes a control unit in the computer device 50. The CPU 54 as the control unit controls the operation of the computer device 50 and executes control as the above-mentioned behavior calculation device 34, etc. This allows the computer device 50 in Fig. 4 to function as, for example, the behavior calculation device 34, etc. in the simulation system 30 in Fig. 3.

[0038] In this way, the automobile simulation system 30 of FIG. 3 can reproduce the operation of an automobile driving in a virtual space by incorporating the automobile control system 10 for automatic braking shown in FIG. 1 and the like into the vehicle control system reproduction unit 48 along with the in-vehicle network 16. Automobile developers and others can use the automobile simulation system 30 of FIG. 3 to obtain information for evaluating the control and operation of automobile devices under development. By using the automobile simulation system 30 of FIG. 3, automobile developers and others can reliably evaluate the control and operation of each automobile device under development without incorporating the device into the automobile. Even if the automobile control system 10 becomes more advanced or complex, the automobile simulation system 30 of FIG. 3 can be used to efficiently and reliably evaluate the increasing number of evaluation items for each automobile device under development. Evaluation of the operation of various devices used in the automobile control system 10 can be performed by bench testing, which can be significantly easier than performing evaluation on an actual vehicle. As a result, the control and operation of each device under development can be expected to be more reliable than when performed on an actual vehicle.

[0039] However, in the automobile simulation system 30 of FIG. 3 , evaluation of the operation of a device under development may be time-consuming if left as is. In the automobile simulation system 30 of FIG. 3 , the closed loop L1 shown in FIG. 2 is realized by multiple devices indicated by bold frames in FIG. 3 . That is, the closed loop in FIG. 3 is composed of a monitor image generating device 35, a camera image generating device 36, a compound eye monitor for camera 37, a compound eye outside vehicle camera 22, an outside vehicle detection control device 12, a VDC control device 13, and a behavior calculation device 34. In this case, the closed loop in FIG. 3 includes the outside vehicle detection control device 12 and the VDC control device 13 as devices installed in the automobile. The outside vehicle detection control device 12 generates outside vehicle detection information based on captured images of the outside of the automobile that change in response to the automobile's driving state, and outputs the generated information to the in-vehicle network 16. The VDC control device 13 acquires the outside vehicle detection information from the in-vehicle network 16 and controls the operation of an actuator for vehicle driving control that can change the behavior of the automobile in accordance with the acquired outside vehicle detection information. As a result, the automobile simulation system 30 of FIG. 3 can evaluate and assess the operation of the automatic brake in which the outside detection control device 12 and the VDC control device 13 cooperate with each other.

[0040] Meanwhile, the vehicle control system 10 is provided with numerous control devices. Furthermore, various sensors and actuators are connected to each control device. As described above, the outside-of-vehicle detection control device 12 generates outside-of-vehicle detection information based on captured images of the vehicle exterior and outputs the information to the in-vehicle network 16 for purposes such as automatic braking. The VDC control device 13 acquires the outside-of-vehicle detection information from the in-vehicle network 16 and controls the operation of the vehicle's braking actuators in accordance with the outside-of-vehicle detection information. In the development of a vehicle, each device is generally developed by a different developer. For example, the outside-of-vehicle detection control device 12 and the VDC control device 13 may be developed by different developers. In this case, the performance of the VDC control device 13 must be evaluated by incorporating it into the vehicle together with the outside-of-vehicle detection control device 12. However, for example, in order for such an evaluation of the performance of the VDC control device 13 to be reliable, it is a prerequisite that the development of the outside-of-vehicle detection control device 12 has progressed to a considerable extent. Therefore, the performance of the VDC control device 13 can only be evaluated once the development of the vehicle, including the outside-of-vehicle detection control device 12, has progressed to a considerable extent. As a result, modifications to the VDC control device 13 that reflect the evaluation results can only begin at a significant stage in the development of the vehicle. Furthermore, if the evaluation results in combination with the vehicle exterior detection control device 12 are undesirable, the developer must make modifications to the vehicle based on those results. However, based solely on the evaluation results in combination with the vehicle exterior detection control device 12, it may be difficult to determine whether modifications should be made to the vehicle exterior detection control device 12, the VDC control device 13, or both. The developer is required to estimate and determine which modifications need to be made based on the evaluation results of the combination. The developer may be unsure of the appropriate location. Due to these and other factors, the development of a vehicle that includes the VDC control device 13, which must be developed together with the vehicle exterior detection control device 12, requires a long period of time. There is a need to facilitate the development of vehicles by enabling early evaluation of the VDC control device 13, which is used in combination with the vehicle exterior detection control device 12.

[0041] The automobile simulation system 30 of FIG. 3 essentially enables early evaluation of the VDC control device 13 used in combination with the exterior detection control device 12, thereby facilitating automobile development. However, the closed loop of FIG. 3 includes the VDC control device 13 to be evaluated. If the VDC control device 13 to be evaluated does not reliably execute control operations, the closed loop of FIG. 3 will also fail to reliably operate. As such, if the VDC control device 13 to be evaluated is included in the closed loop of the simulation system 30 itself, even if evaluation is performed in that state, it may be impossible to determine whether the evaluation results are those evaluated under the desired state. Note that this situation is not limited to the combination of the exterior detection control device 12 and the VDC control device 13. Generally speaking, a similar situation may occur in any combination of an input-side control device (first device) that outputs a first output to the in-vehicle network 16 and an output-side device (second device) that receives the first output from the in-vehicle network 16 and executes control in an automobile. In particular, if the input control device (first device) detects an object that can change in response to the driving state of the vehicle and outputs a first output to the VDC control device 13 via the in-vehicle network 16, and the output device (second device) acquires the first output from the in-vehicle network 16 and controls the operation of the vehicle's actuators that can change the behavior of the vehicle according to the first output, it is necessary to construct a closed loop as described above in the vehicle simulation system 30 of Figure 3.

[0042] FIG. 5 is an explanatory diagram of the basic configuration of an automobile simulation system 60 according to a first embodiment of the present invention. The simulation system 60 of FIG. 5 is an improvement on the simulation system 30 of FIG. 3. The simulation system 60 of FIG. 5 includes a main simulation device 601, a sub-simulation device 602, an inter-device relay device including 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. The simulation system 60 of FIG. 5 is suitable for evaluating a VDC control device 13 used in combination with an outside-vehicle detection control device 12 in an automobile for automatic braking of the automobile.

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

[0044] The main simulation device 601, like the simulation system 30 of Fig. 3, includes a main in-vehicle network 31, a main communication network 32, a first synchronization relay device 61, an event generation device 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 control system 10, or an equivalent thereto. The first synchronization relay device 61, the event generation device 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 are connected to the main communication network 32. A camera compound eye monitor 37 is connected to the camera image generation device 36. Here, the first synchronization relay device 61 may be basically the same as the synchronization relay device 33 of Fig. 3, although a first inter-device relay unit 70 is added. The first behavior calculation device 63 may be basically the same as the behavior calculation device 34 of FIG. 3 , although it is additionally equipped with a simulation function for the VDC control device 13. For example, the first behavior calculation device 63 acquires vehicle exterior detection information output by the first vehicle exterior 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. The main in-vehicle network 31 may be connected to at least the components of the vehicle control system 10 of FIG. 1 , excluding the VDC control device 13 and the brake actuator 23, which are the subject of evaluation here. Here, the main in-vehicle network 31 exemplarily illustrates the first vehicle exterior detection control device 121 and an operation control member. The first vehicle exterior detection control device 121 is connected to a compound-eye vehicle exterior camera 22. The operation control member is connected to an operation member 21. Here, the first vehicle exterior detection control device 121 may be the same as the vehicle exterior detection control device 12 of FIG. 1 , as in FIG. 3 .

[0045] The sub-simulation device 602 includes a sub-in-vehicle network 64, a sub-communication network 65, a second synchronization relay device 66, and a second behavior calculation device 67. The sub-communication network 65 is connected to the second synchronization relay device 66 and the second behavior calculation device 67. The second synchronization relay device 66 may essentially be the same as the synchronization relay device 33 in FIG. 3 , with the addition of a second inter-device relay unit 71. The second behavior calculation device 67 generates missing information among the input information of the VDC control device 13 of the sub-simulation device 602, and may essentially be the same as the behavior calculation device 34 in FIG. 3 . Calculation of the 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 brake actuator 23 to be evaluated, as well as a first outside-vehicle detection control device 121 that operates in cooperation with the VDC control device 13, within the vehicle control system 10 in FIG. 1 . The brake actuator 23 is connected to the VDC control device 13. Furthermore, 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. At this time, the first inter-device relay unit 70 may perform a filtering process on the information that the first synchronous relay device 61 can acquire and output a portion of the information to the second inter-device relay unit 71. Furthermore, 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 via the first synchronous relay device 61.

[0047] The second inter-device relay unit 71 outputs information that the second synchronous relay device 66 can acquire from the sub-in-vehicle network 64 and the sub-communication network 65 to the first inter-device relay unit 70. At this time, the second inter-device relay unit 71 may perform a filtering process on the information that the second synchronous relay device 66 can acquire and output a portion of the information to the first inter-device relay unit 70. Furthermore, the second inter-device relay unit 71 may output information input from the first inter-device relay unit 70 to the sub-in-vehicle network 64 or the sub-communication network 65 via the second synchronous relay device 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 information that is lacking for its control from the sub-simulation device 602 through the inter-device relay device made up of the first inter-device relay unit 70 and the second inter-device relay unit 71. The sub-simulation device 602 can obtain information that is lacking for its control from the main simulation device 601 through the inter-device relay device made up of 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 information required for its calculation 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 described above, in the simulation system 60 of Fig. 5, at least one control device that outputs first information to the control device to be evaluated is connected to the main in-vehicle network 31. In the main simulation device 601, a closed loop corresponding to the closed loop L1 in Fig. 2 is realized by a plurality of devices indicated by bold frames in Fig. 5. That is, in Fig. 5, the closed loop is composed of the monitor image generating device 35, the camera image generating device 36, the compound eye monitor for camera 37, the compound eye outside vehicle camera 22, the first outside vehicle detection control device 121, and the first behavior calculation device 63. The first outside vehicle detection control device 121 can operate reliably in an environment that simulates the control system 10 of the vehicle, in an environment that is not affected by the operation of the VDC control device 13 to be evaluated, and while the vehicle is traveling in a virtual space.

[0050] 5 , the VDC control device 13 to be evaluated is connected to the sub-in-vehicle network 64 of the sub-simulation device 602 so as to be outside the closed loop. Furthermore, the vehicle outside detection control device 12 used for evaluation together with the VDC control device 13 to be evaluated is provided in both the main simulation device 601 and the sub-simulation device 602. The first vehicle outside detection control device 121, which is the vehicle outside detection control device 12 of the main simulation device 601, is inside the closed loop. In contrast, the second vehicle outside detection control device 122, which is the vehicle outside detection control device 12 of the sub-simulation device 602, is outside the closed loop, just like the VDC control device 13 to be evaluated. However, because the second vehicle outside detection control device 122 receives the same parallax images as the first vehicle outside detection control device 121, it basically executes the same control operations as the first vehicle outside detection control device 121 and can generate the same vehicle outside detection information as the first vehicle outside detection control device 121.

[0051] Here, the second outside-vehicle detection control device 122 requires vehicle exterior images captured by the compound-eye outside-vehicle camera 22 to operate. Therefore, in the simulation system 60 shown in FIG. 5 , the compound-eye outside-vehicle camera 22 provided in the main simulation device 601 is connected to the second outside-vehicle detection control device 122 of the sub-simulation device 602 via a direct line 69. This allows the second outside-vehicle detection control device 122 to detect information on detection targets, such as obstacles, generated for the first outside-vehicle detection control device 121 by the camera image generation device 36 of the main simulation device 601 in parallel with the first outside-vehicle detection control device 121 and generate related outside-vehicle detection information. The second outside-vehicle detection control device 122 can also output the outside-vehicle detection information to the sub-in-vehicle network 64. Alternatively, for example, the first outside-vehicle detection control device 121 may output vehicle exterior images captured by the compound-eye outside-vehicle camera 22 to the main in-vehicle network 31. Furthermore, the outside image of the compound eye outside vehicle camera 22 may be relayed from the main simulation device 601 to the sub-simulation device 602. In this case, the second outside vehicle detection control device 122 can acquire the outside image of the compound eye outside vehicle camera 22 of the main simulation device 601, execute desired control operations, and output outside vehicle detection information.

[0052] In the simulation system 60 of FIG. 5 , the first outside-vehicle detection control device 121 is connected to the main in-vehicle network 31 to operate in an environment simulating the vehicle's control system 10, and the first outside-vehicle detection control device 121 can output outside-vehicle detection information as a first output. In the simulation system 60 of FIG. 5 , the VDC control device 13 is connected to the sub-in-vehicle network 64 to operate in an environment simulating the vehicle's control system 10. Preferably, the main in-vehicle network 31 and at least the sub-in-vehicle network 64 within the main in-vehicle network 31 are identical to the in-vehicle network 16 actually used with the VDC control device 13 in the vehicle. However, the main in-vehicle network 31 does not have to be identical to the in-vehicle network 16 used in the vehicle's control system 10, and may be equivalent. In particular, if the outside-vehicle detection control device 12 used as the first outside-vehicle detection control device 121 has already been evaluated, the main in-vehicle network 31 does not have to be identical to the in-vehicle network 16 actually used with the VDC control device 13 in the vehicle.

[0053] Here, information required by the VDC controller 13 for a predetermined control operation will be described. As shown in FIG. 1 , when the VDC controller 13 executes automatic braking control, the VDC controller 13 requires information such as the vehicle's speed, acceleration, and wheel speed from the detection controller 15, in addition to the vehicle exterior detection information from the vehicle exterior detection controller 12. The VDC controller 13 controls the amount of operation and the operating state of the brake actuator 23 when executing automatic braking, according to VDC information such as the vehicle's speed, acceleration, and wheel speed. The VDC controller 13 controls the amount of operation and the operating state of the brake actuator 23 during automatic braking so that the vehicle stops within the distance to the detected obstacle. Furthermore, if the difference between the instantaneous travel distance obtained from the vehicle's speed during braking and the instantaneous travel distance obtained from the wheel speed is large, the VDC controller 13 may also execute control to adjust and suppress the operation of the brake actuator 23 and the operation of an antilock brake system (ABS) device (not shown).

[0054] In this case, a first inter-device relay unit 70 provided in the first synchronous relay device 61 selects, by a predetermined filtering process, the vehicle exterior detection information from the vehicle exterior detection control device 12, which is generated in the main simulation device 601 on which the vehicle exterior detection control device 12 operates, and the vehicle speed and acceleration information obtained as a calculation result by the first behavior calculation device 63. The first inter-device relay unit 70 also outputs the selected information to a 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. In the sub-simulation device 602, a second behavior calculation device 67 operating together with the VDC control device 13 calculates the wheel speed of the vehicle on which the VDC control device 13 is installed, based on information such as the 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 synchronization relay device 66 acquires wheel speed information from the sub-communication network 65 and outputs it to the sub-in-vehicle network 64. This allows the second behavior calculation device 67 to generate missing information that the VDC control device 13 needs to control its automatic brake. The second behavior calculation device 67 can function as an input calculation unit for the VDC control device 13 being evaluated. Furthermore, the VDC control device 13 connected to the sub-in-vehicle network 64 can acquire outside detection information from the first outside detection control device 121 operating in the closed loop of the main simulation device 601, or equivalent information, outside detection information from the second outside detection control device 122 operating in the sub-simulation device 602. Furthermore, the VDC control device 13 can acquire all information required for the control operation of the automatic brake from the sub-in-vehicle network 64, as in the case of FIG. 1 .

[0055] 1 is incorporated into the simulation system 60 of Fig. 5 in order to evaluate the control operation of the automatic brake for the devices of the control system 10 provided in the automobile. When evaluating the control operation of other automobile functions, the various devices of the automobile control system 10 incorporated into the simulation system 60 of Fig. 5 may be changed from those of Fig. 5. Furthermore, when evaluating the control operation of each automobile function, all of the devices of the automobile control system 10 may be incorporated into the simulation system 60 of Fig. 5.

[0056] Fig. 6 is a block diagram of a simulation system 80 for evaluating an automobile, which is realized under the basic configuration of Fig. 5. In Fig. 6, the configuration of the simulation system 80 includes the basic components of Fig. 5 as well as a VDC operation reproducing unit 81 as a control operation reproducing unit, a vehicle behavior calculating unit 82, and a wheel speed calculating unit 83. The hatched boxes in the figure represent the various devices shown in the automobile control system 10 of Fig. 1, which are provided in the simulation system 60 of Fig. 5.

[0057] The VDC operation reproducing unit 81 reproduces the control output of the VDC control device 13 or the operation output of the actuators in response to the vehicle exterior detection information output by the vehicle exterior detection control device 12 shown in FIG. 6 . Here, it is sufficient for the VDC operation reproducing unit 81 to reproduce, for example, the input / output of the VDC control device 13 or the overall input / output of the VDC control device 13 and the actuators. For example, each control device provided in the vehicle control system 10 is developed based on the overall vehicle requirements through processes such as input / output design, requirement design, and function design. In this case, by the time a control device for evaluation is created, the input / output, requirements, and function of that control device have already been designed. The input / output of the VDC control device 13 and the overall input / output of the VDC control device 13 and the actuators can be easily modeled based on this existing design information. Furthermore, it is highly likely that each manufacturer has already developed a similar type of control device. In this case, it is also possible to model a control device that has already been developed. Based on these models, the VDC operation reproducing unit 81 may reproduce the input / output of the VDC control device 13 or the input / output of the VDC control device 13 and the actuator as a whole.

[0058] The vehicle behavior calculation unit 82 uses the output of the VDC operation reproduction unit 81 and the like to calculate the behavior of the vehicle that may change due to the operation of the brake actuator 23 and the running state of the vehicle.

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

[0060] 6, the closed loop of the main simulation device 601 in FIG. 5 is composed of the monitor image generating device 35, camera image generating device 36, camera compound eye monitor 37, compound eye outside vehicle camera 22, vehicle exterior detection control device 12, VDC operation reproduction unit 81, and vehicle behavior calculation unit 82 (not shown). In this case, the camera image generating device 36 and the monitor image generating device 35 function as a vehicle exterior image generating device that generates vehicle exterior images in vehicle driving states that can change due to actuator operation using the calculation results of the vehicle behavior calculation unit 82. The camera compound eye monitor 37 functions as a display member that displays the vehicle exterior image generated by the camera image generating device 36. The compound eye outside vehicle camera 22 functions as an imaging member that captures the vehicle exterior image displayed on the display device and outputs it to the vehicle exterior detection control device 12 as a captured image of the vehicle exterior.

[0061] Here, VDC operation reproducing unit 81 and vehicle behavior calculating unit 82 are realized in first behavior calculating unit 63 of main simulation device 601 in Fig. 5 . In this way, first behavior calculating unit 63 in Fig. 5 calculates the behavior of the vehicle including the control operation of VDC control device 13, which is the evaluation target. First behavior calculating unit 63 may execute calculation processing as VDC operation reproducing unit 81 based on, for example, an equation or table indicating the input / output relationship of VDC control device 13, which is the evaluation target, to calculate the behavior of the vehicle caused by VDC control device 13. Furthermore, first behavior calculating unit 63 may use the calculation results of the behavior of the vehicle as VDC operation reproducing unit 81 to calculate the overall behavior of the vehicle and the running state of the vehicle after the behavior.

[0062] 5 . The second behavior calculation device 67 acquires, via the sub-communication network 65, information such as speed indicating the behavior of the vehicle calculated by the first behavior calculation device 63 or the running state of the vehicle corresponding to the behavior, and as the wheel speed calculation device 83, calculates input information for the VDC control device 13 corresponding to the acquired information such as speed. The second behavior calculation device 67 outputs the calculation result of the wheel speed calculation device 83 to the sub-communication network 65. The second synchronization relay device 66 outputs the calculation result of the wheel speed calculation device 83 output to the sub-communication network 65 to the VDC control device 13 via the sub-in-vehicle network 64.

[0063] The vehicle outside detection control device 123 in Fig. 6 corresponds to both the first vehicle outside detection control device 121 of the main simulation device 601 in Fig. 5 and the second vehicle outside detection control device 122 of the sub-simulation device 602, which can operate in the same manner as the first vehicle outside detection control device 121. That is, in Fig. 6, the vehicle outside detection information of the vehicle outside detection control device 12 is output to the VDC operation reproduction unit 81 and the VDC control device 13. In this way, the vehicle outside detection control device 123 in Fig. 6 operates under a closed loop that generates the vehicle running state. Moreover, the vehicle outside detection control device 123 in Fig. 6, which operates in a closed loop, can output the generated vehicle outside detection information to the VDC control device 13, which is not included in the closed loop.

[0064] The device evaluation device 90 of FIG. 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 brake actuator 23 by capturing an image. For example, in a hydraulic braking system, hydraulic pressure presses brake pads against a brake disc to generate braking force. The evaluation camera 92 may capture an image of the oil level caused by the hydraulic pressure. This allows the evaluation camera 92 to detect the amount of operation and operating state of the brake actuator 23, whose operation is controlled by the VDC control device 13, from the position and change of the oil level during operation. The evaluation UI device 91 may be, for example, the computer device 50 of FIG. 4 with an additional monitor or other user interface. In this case, the evaluation UI device 91 may display an image of the oil level captured by the evaluation camera 92 on the monitor. A developer can check the amount of operation and operating state of the brake actuator 23 by viewing the monitor display. The evaluation UI device 91 may also hold master data on changes in the oil level according to scenarios in the simulation system 80, and display the results of comparison with this data on the monitor.

[0065] In this way, in the simulation system 80 of FIG. 6 , the outside 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 FIG. 6 , the outside detection information, which is the first output of the outside detection control device 123 operating in such a closed loop, can be output to the VDC control device 13 under evaluation, which is outside the closed loop. Furthermore, the device evaluation device 90 can observe the operating state of the brake actuator 23, whose operation is controlled by the VDC control device 13 under evaluation, using the evaluation camera 92 and provide the observed information to the developer. This allows the developer to easily confirm and begin corrective action if the oil level change in response to the scenario, etc., in the simulation system 80 is not as desired. Furthermore, because the simulation system 80 of FIG. 6 is based on the simulation system 60 of FIG. 5 , various information during scenario execution can be stored in the system. Therefore, the evaluation results can provide richer information than evaluations using an actual vehicle. By analyzing this information, the developer can easily determine the cause of the undesired results and the necessary modifications based on the evaluation results. When the evaluation result is not good, the developer can easily and reliably determine whether the cause is the outside vehicle detection control device 123 or the VDC control device 13.

[0066] In the above description of Fig. 6, the wheel speed calculation unit 83 is realized in the second behavior calculation unit 67 of the sub-simulation device 602 in Fig. 5. Alternatively, for example, the wheel speed calculation unit 83 may be realized in the first behavior calculation unit 63 of the main simulation device 601 in Fig. 5. In this case, all information that the VDC control device 13 needs to acquire for automatic brake control, other than the vehicle exterior detection information generated by the vehicle exterior detection control device 123, is generated in the main simulation device 601 and relayed to the sub-simulation device 602.

[0067] FIG. 7 is a schematic explanatory diagram showing the operation timing of the basic simulation system 60 of FIG. 5 under the simulation system 80 of FIG. 6 . In FIG. 7 , information generated by the main simulation device 601 and information generated by the sub-simulation device 602 are shown, starting from the top of the figure. Specifically, the information of the main simulation device 601 includes vehicle exterior detection information output by the first vehicle exterior detection control device 121 in the main simulation device 601, VDC data output by the VDC operation reproduction unit 81, and a parallax image generated by the camera image generation device 36. The information of the sub-simulation device 602 includes vehicle exterior detection information output by the second vehicle exterior detection control device 122 in the sub-simulation device 602 and VDC data output by the VDC control device 13. The VDC data output by the VDC control device 13 is output to the brake actuator 23. Time flows from left to right in FIG. 7 .

[0068] As shown in FIG. 7 , in the time slot of time t1, in the main simulation device 601, the first vehicle outside detection control device 121 outputs vehicle outside detection information as a first output. The VDC operation reproducing unit 81 outputs VDC data. The camera image generating device 36 generates a parallax image. In the time slot of time t2, in the main simulation device 601, the first vehicle outside detection control device 121 outputs vehicle outside detection information based on the parallax image obtained through the processing at time t1. The VDC operation reproducing unit 81 outputs VDC data. The camera image generating device 36 generates a parallax image. In the time slot of time t3, in the main simulation device 601, the first vehicle outside detection control device 121 outputs vehicle outside detection information based on the parallax image obtained through the processing at time t2. The VDC operation reproducing unit 81 outputs VDC data. The camera image generating device 36 generates a parallax image.

[0069] While such control is performed in the main simulation device 601, the sub-simulation device 602 also executes control. That is, in the time slot of time t1, the second outside vehicle detection control device 122 of the sub-simulation device 602 outputs outside vehicle detection information based on the parallax image generated in the main simulation device 601. The VDC control device 13 outputs the VDC data to the brake actuator 23. In the time slot of time t2, the second outside vehicle detection control device 122 of the sub-simulation device 602 outputs outside vehicle detection information based on the parallax image generated in the main simulation device 601 based on the processing at time t1. The VDC control device 13 outputs the VDC data to the brake actuator 23. In the time slot of time t3, the second outside vehicle detection control device 122 of the sub-simulation device 602 outputs outside vehicle detection information based on the parallax image generated in the main simulation device 601 based on the processing at time t1. The VDC control device 13 outputs the VDC data to the brake actuator 23.

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

[0071] In the example shown in FIG. 7 , the control operation cycle Tc0 of the simulation systems 60 and 80, the control operation cycle Tc1 of the main simulation device 601, and the control operation cycle Tc2 of the sub-simulation device 602 are the same. The control operation cycle may basically be the same as the control cycle of the vehicle being evaluated. In contrast, the camera image generation device 36, which outputs information about the detection target to the first outside vehicle detection control device 121 and the second outside vehicle detection control device 122, updates the parallax images output to the camera compound eye monitor 37 every cycle Tc3, which is shorter than the control cycles Tc0 to Tc2 of these time slots. In FIG. 7 , the parallax images are updated approximately three times during the control cycles Tc0 to Tc2 of one time slot. In this case, the parallax image update cycle Tc3 is a short cycle, approximately one-third of the control cycles Tc0 to Tc2 of the time slots.

[0072] As a result, the camera image generating device 36 can update the disparity images immediately when the VDC data is updated in each cycle Tc1. The camera image generating device 36 can update the output disparity images in each control cycle of the time slot. The first outside vehicle detection control device 121 and the second outside vehicle detection control device 122 can detect information on detection targets that can be updated at a cycle shorter than their operation cycles. In other words, because the detection targets can be updated at a cycle shorter than that of the time slots, the first outside vehicle detection control device 121 and the second outside vehicle detection control device 122 can each operate at the same timing as when operating in an automobile.

[0073] As shown in FIG. 5 , the first vehicle outside detection control device 121 and the second vehicle outside detection control device 122 are connected to the same compound-eye vehicle outside camera 22 and may receive the same vehicle outside image. Therefore, the vehicle outside detection information output by the first vehicle outside detection control device 121 and the vehicle outside detection information output by the second vehicle outside detection control device 122 may be the same. Therefore, in the same time slots corresponding to the top and bottom in FIG. 7 , the vehicle outside detection information in the main simulation device 601 and the vehicle outside detection information in the sub-simulation device 602 are expected to be the same. Similarly, the VDC data generated based on the same vehicle outside detection information in the main simulation device 601 and the sub-simulation device 602 are expected to be the same. As a result, although the control actuator in the sub-simulation device 602 is operated based on the VDC data input from the VDC control device 13, it can be considered as if it were operated based on the VDC data of the main simulation device 601, which is executing closed-loop control.

[0074] FIG. 8 is a flowchart illustrating the overall control flow for evaluating automatic braking in the simulation systems 60 and 80 of this embodiment. The simulation system 60 of FIG. 5 and the simulation system 80 of FIG. 6 can execute control based on, for example, a predetermined vehicle driving scenario to evaluate automatic braking. An example of such a driving scenario will be described here. The flowchart of FIG. 8 can be executed by multiple devices constituting the simulation systems 60 and 80 working together. The flowchart of FIG. 8 will be described using an example in which the first behavior calculation device 63 of the main simulation device 601 drives the vehicle in a virtual space in accordance with the driving scenario. The vehicle can also drive in a virtual space in accordance with the driver's operation of the operating member 21. Such a driving scenario may basically be composed of information for the vehicle to drive from an initial position to an end position in the virtual space. The driving scenario information may be composed of information similar to that output by the operation control device 11 to the main in-vehicle network 31 when the driver operates the operating member 21 to drive the vehicle in the virtual space.

[0075] 8 , the simulation systems 60 and 80 output an initial driving state. For example, the event generation device 39 outputs a start event for a driving scenario, the driving environment generation device 40 generates a virtual space at the initial position of the vehicle in the driving scenario, and the first behavior calculation device 63 generates information for the vehicle to start driving from the initial position in accordance with the driving scenario. The information for starting driving generated here may be similar to the information output by the operation control member to the in-vehicle network 16 when the driver operates the operation member 21 to start driving the vehicle.

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

[0077] In step ST3, the monitor image generator generates a field of view image from the vehicle based on the position of the vehicle after the behavior, and the camera image generator 36 further generates a parallax image. The camera compound eye monitor 37 displays the parallax image after the behavior.

[0078] In step ST4, the compound eye vehicle exterior camera 22 captures a parallax image of the post-behavior vehicle being displayed on the compound eye camera monitor 37.

[0079] In step ST5, the first outside-vehicle detection control device 121 analyzes the outside-vehicle image captured by the compound-eye outside-vehicle camera 22 and outputs the outside-vehicle detection information to the main in-vehicle network 31. The first synchronization relay device 61 acquires the outside-vehicle detection information from the main in-vehicle network 31 and outputs it to the main communication network 32. The first inter-device relay unit 70 provided in the first synchronization relay device 61 acquires the outside-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 synchronization relay device 66. The second synchronization relay device 66 outputs the outside-vehicle detection information acquired from the main simulation device 601 to the sub-in-vehicle network 64. Here, if no obstacle is present in the direction of travel of the vehicle in the virtual space, the first outside-vehicle detection control device 121 may output idle outside-vehicle detection information or may not output outside-vehicle detection information. In this case, the simulation system 60, 80 does not execute the processes from step ST6 to step ST8. On the other hand, if the driving scenario has progressed to a certain extent and a driving obstacle is present in the direction of travel of the vehicle in the virtual space, the simulation system 60, 80 executes the processes from step ST6 to step ST8, which will be described in detail later.

[0080] In step ST9, first behavior calculation device 63 calculates the current behavior and driving state of the vehicle using the previous, immediately preceding, behavior and driving state of the vehicle and newly acquired information from main communication network 32. At this time, if a driving obstacle is present in the direction of travel of the vehicle in the virtual space and significant outside-vehicle detection information has been generated, first behavior calculation device 63 first executes calculation processing as VDC operation reproduction unit 81 based on the outside-vehicle detection information. Then, first behavior calculation device 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 system 60, 80 determines whether to start evaluating automatic braking. The determination in step ST10 may be made, for example, by the first behavior calculation device 63. The first behavior calculation device 63 may determine whether to start evaluating automatic braking, for example, based on whether the speed of the automobile traveling in the virtual space is a speed appropriate for evaluating automatic braking. If automatic braking evaluation is not to be started, the first behavior calculation device 63 returns the process to step ST1. The simulation system 60, 80 including the first behavior calculation device 63 repeats the processes from step ST1 to step ST10 until it determines in step ST10 to start evaluating automatic braking. Then, when it determines in step ST10 to start evaluating automatic braking, the simulation system 60, 80 including the first behavior calculation device 63 proceeds to step ST11.

[0082] In step ST11, the simulation system 60, 80 outputs an evaluation event. The event generation device 39 outputs a driving obstruction ahead of the vehicle in the direction of travel in the virtual space. The driving environment generation device 40 generates a virtual space including the driving obstruction as a virtual space at the vehicle's current position. The monitor image generation unit generates a field-of-view image from the vehicle based on the vehicle's current position, and the camera image generation device 36 further generates a parallax image. As a result, the camera compound eye monitor 37 displays a parallax image including an image of the driving obstruction. As a result, in step ST5, the first outside-vehicle detection control device 121 analyzes the outside-vehicle image captured by the compound eye outside-vehicle camera 22 and outputs significant outside-vehicle detection information to the main in-vehicle network 31. The second outside-vehicle detection control device 122 also analyzes the outside-vehicle image captured by the compound eye outside-vehicle camera 22 and outputs significant outside-vehicle detection information to the sub-in-vehicle network 64. In this case, the simulation system 60, 80 executes the processes from step ST6 to step ST8.

[0083] In step ST6, the VDC control device 13 of the sub-simulation device 602 acquires, from the sub-in-vehicle network 64, the outside-vehicle detection information output by the second outside-vehicle detection control device 122 to 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 brake actuator 23. In step ST7, the brake actuator 23 executes braking operation for automatic braking. In step ST8, the evaluation camera 92 captures images of changes in the oil level based on the operation of the brake actuator 23. The captured image of the evaluation camera 92 is output to the evaluation UI device 91 and displayed on the monitor of the evaluation UI device 91. This allows the developer to use the evaluation UI device 91 to check the results of the control and operation for automatic braking while driving in a virtual space in a driving scenario.

[0084] In step ST12, the simulation system 60, 80 determines whether to end the evaluation of automatic braking. The determination in step ST12 may be made, for example, by the first behavior calculation device 63. The first behavior calculation device 63 may determine to end the evaluation of automatic braking, for example, when the speed of the automobile traveling in the virtual space is 0 km / h or a speed sufficiently decelerated to approach 0 km / h due to automatic braking. If the first behavior calculation device 63 does not determine to end the evaluation of automatic braking, the first behavior calculation device 63 returns the process to step ST2. After determining to start the evaluation of automatic braking in step ST10, the simulation system 60, 80 including the first behavior calculation device 63 repeats the processes from step ST2 to step ST12 until it determines to end the evaluation in step ST12. Then, if it determines to end the evaluation of automatic braking in step ST12, the simulation system 60, 80 including the first behavior calculation device 63 proceeds 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 the data in the evaluation UI device 91 or the like. This allows the developer to comprehensively evaluate the control operation of the automatic brake based on the driving scenario, including the operation of the brake actuator 23, using the evaluation UI device 91. Furthermore, the developer can quickly identify correction targets based on the evaluation results and correct the VDC control device 13 being evaluated or the outside detection control device 12 used therewith.

[0086] In this way, by executing the evaluation control of FIG. 8 based on the driving scenario, the simulation system 60, 80 can cause the VDC control device 13, which is the evaluation target, to execute control to operate the brake actuator. The developer or the like can then confirm the evaluation results on the evaluation UI device 91 or the like. Furthermore, the simulation system 60, 80 can acquire VDC data, which is the output of the VDC control device 13, along with changes in the oil level based on the operation of the brake actuator. The simulation system 60, 80 can also acquire information during evaluation, including the output of the second outside vehicle detection control device 122, which operates together with the VDC control device 13 during the evaluation of the automatic braking, and the output of the first outside vehicle detection control device 121, which outputs an equivalent signal. By comparing this information during the evaluation of the automatic braking, the developer can easily identify the devices that need to be modified and the modifications to be made to achieve the desired results. Note that in FIG. 8, the simulation system 60, 80 executes the driving scenario to perform the evaluation. The simulation system 60, 90 can be operated by a driver in the main simulation device 601, similar to the simulation system 30 of FIG. 3. The simulation systems 60 and 80 may execute a driving scenario and perform evaluation by the driver operating the operating member 21 according to a predetermined driving scenario.

[0087] As described above, in this embodiment, the outside-vehicle detection control device 12, which outputs a first output as outside-vehicle detection information to the VDC control device 13 in the vehicle, is connected to the main in-vehicle network 31 of the main simulation device 601, thereby operating in an environment simulating the vehicle's control system 10. The VDC control device 13 to be evaluated, to which the first output of the outside-vehicle detection control device 12 is input, is connected not to the main in-vehicle network 31 of the main simulation device 601, but to the sub-in-vehicle network 64 of the sub-simulation device 602. This allows the outside-vehicle detection control device 12 to operate in an environment simulating the vehicle's control system 10 in the main simulation device 601 without being affected by the operation of the VDC control device 13. As shown in FIG. 5 , the outside-vehicle detection control device 12 can operate reliably in an environment simulating the vehicle's control system 10, without being affected by the operation of the VDC control device 13. As a result, the first output output from the outside-vehicle detection control device 12 to the VDC control device 13 can be reliably output without being affected by the operation of the VDC control device 13 to be evaluated. Furthermore, the VDC control device 13 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 in accordance with information generated by the main simulation device 601, which operates including the outside-vehicle detection control device 12. As a result, despite being connected to the sub-in-vehicle network 64 of the sub-simulation device 602, the VDC control device 13 can operate in the same manner as if it were connected to the main in-vehicle network 31 of the main simulation device 601 together with the outside-vehicle detection control device 12. As a result, the VDC control device 13, which operates in response to input of the first output of the outside-vehicle detection control device 12 in a vehicle, can be evaluated in the vehicle simulation system 60 of this embodiment for its operation in an environment simulating the vehicle control system 10. Even if the VDC control device 13 is not provided in the vehicle together with the outside-vehicle detection control device 12, it is possible to evaluate the cooperative operation between the VDC control device 13 and the outside-vehicle detection control device 12 in the vehicle simulation system 60 of this embodiment.The VDC control device 13 can evaluate its cooperative operation with the vehicle outside detection control device 12 in an environment that simulates the vehicle control system 10 and in an environment in which the vehicle outside detection control device 12 is operating reliably. In this embodiment, the VDC control device 13, which operates in cooperation with the vehicle outside detection control device 12 in the vehicle control system 10 by receiving the first output of the vehicle outside detection control device 12 in the vehicle, can easily evaluate its operation in a simulation system that is not based on a vehicle.

[0088] Second Embodiment Next, a second embodiment of the present invention will be described. In this embodiment, the same components as those in the above-described embodiment will be designated by the same reference numerals, and illustrations and descriptions thereof will be omitted. Differences from the above-described embodiment will be mainly described. In this embodiment, a configuration will be described in which the basic configuration of the automobile simulation system 60 in FIG. 5 is improved to enable evaluation of multiple vehicles to be performed simultaneously in parallel.

[0089] Fig. 9 is an explanatory diagram of the basic configuration of an automobile simulation system 110 according to a second embodiment of the present invention. The automobile simulation system 110 of Fig. 9 has one main simulation device 601 and multiple sub-simulation devices 602. In Fig. 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, or may be four or more.

[0090] The main simulation device 601 has the same configuration as in Fig. 5 . However, due to space limitations, Fig. 9 only shows the first synchronous relay device 61, which has a first inter-device relay unit 70. The first sub-simulation device 112 to the third sub-simulation device 114 have the same configuration as in Fig. 5 . However, due to space limitations, Fig. 9 only shows the second synchronous relay device 66, which has a second inter-device relay unit 71. 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 executes closed-loop control similar to that of the above-described embodiment. The first inter-device relay unit 70 simultaneously and in parallel outputs 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. This allows the VDC control device 13 provided in the first sub-simulation device 112 to obtain information that is lacking in the first sub-simulation device 112 from the main simulation device 601. The VDC control device 13 provided in the second sub-simulation device 113 can obtain information that is lacking in the second sub-simulation device 113 from the main simulation device 601. The VDC control device 13 provided in the third sub-simulation device 114 can obtain 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 execute control for operating the brake actuators 23 connected to each of them. At this time, the first outside-vehicle image capture device included in the closed loop of the main simulation device 601 can operate reliably without being affected by the control operations of these multiple VDC control devices 13 to be evaluated.

[0092] The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications and changes are possible within the scope of the gist of the invention.

[0093] 10...Automobile 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...Operation member, 22...External compound eye camera, 23...Brake actuator (actuator), 24...Meter panel, 25...Speaker, 26...Wheel speed sensor, 27...Acceleration sensor, 28...Speed ​​sensor, 30...Simulator communication system, 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 detection target output device), 37...compound eye monitor for camera (part of 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...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 outside-vehicle detection control device (first input side control device), 122...second outside-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 in a vehicle based on an output of a first device, comprising: a main simulation device that operates the first device in an environment simulating a control system of the vehicle by connecting the first device to a main in-vehicle network; a sub-simulation device that operates the second device in an environment simulating a control system of the vehicle by connecting the second device 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 on which the second device is operating; having The second device connected to the sub-in-vehicle network operates according to information generated by the main simulation device on which the first device operates. Vehicle simulation system.

2. the first device is an input side control device that detects an object in the vehicle that may change depending on a running state of the vehicle, and outputs a first output to the second device through 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 an operation of an actuator of the vehicle that can change a behavior of the vehicle in response to the first output; The main simulation device A first input control device as the first device is connected to the main in-vehicle network, a first synchronous relay device connected to the main in-vehicle network and relaying the first output outputted from the first input control device to the main in-vehicle network; a second device reproducing unit that acquires the first output through the first synchronous relay device and reproduces a control output of the second device or an operation output of the actuator according to the first output; a vehicle behavior calculation unit that calculates a behavior of the vehicle using an output of the second device reproducing unit; a detection target output device that generates information including a detection target of the input control device using a calculation result of the vehicle behavior calculation unit, and causes the first input control device to detect the detection target; having a first input control device that operates in an environment simulating a control system of the vehicle by a closed loop including the first synchronous relay device, the second device reproducing unit, the vehicle behavior calculation unit, the detection target output device, and the first input control device, while the vehicle is traveling; 2. The vehicle simulation system according to claim 1.

3. The sub-simulation device includes: The output side control device as the second device and the second input side control device as the first device are connected to the sub-in-vehicle network, The second input control device detects a detection target generated by the detection target output device of the main simulation device for the first input control device, and outputs the first output to the sub-in-vehicle network.

3. The vehicle simulation system according to claim 2.

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

5. The sub-simulation device includes: an input calculation unit that acquires information generated in the main simulation device through the inter-device relay device and generates information that the output side control device acquires from devices other than the input side control device serving as the first device through the sub-in-vehicle network; A second synchronous relay device connected to the input calculation unit and the sub-in-vehicle network, and configured to output information generated by the input calculation unit to the sub-in-vehicle network; having 5. A vehicle simulation system according to claim 4.

6. The actuator is connected to the output side control device, a detection device for detecting the operation of the actuator is provided; 6. A vehicle simulation system according to claim 5.

7. A plurality of the sub-simulation devices are provided.

7. A vehicle simulation system according to claim 6.