Operation simulation video generation device, method, and program

Abstract

When generating simulation video to be presented to a person who rides a simulator body which simulates a vehicle moving on water and who conducts operation training, one aspect of the present invention stores information representing a movement trajectory of the position when an actual machine of the vehicle is operated, and stores surrounding video obtained by imaging at least the range of a viewing angle of an operator when the actual machine is operated. In this state, the movement speed of the vehicle is calculated on the basis of the information representing the movement trajectory, and a display interval of objects used as a speed sensing indicator is computed on the basis of the calculated movement speed. Then, on the basis of the information representing the movement trajectory and the computed display interval of the objects, object video is generated in which the objects are arranged at regular intervals in the traveling direction of the vehicle and which is controlled such that the arrangement interval is the display interval, and the simulation video is generated by superimposing the generated object video on the surrounding video.

Description

Pilot simulation image generation device, method, and program

[0001] One aspect of the present invention relates to a device, method, and program for generating a maneuver simulation image to be presented to a trainee who is training to maneuver a vehicle that moves on water, such as a windsurfing vehicle.

[0002] When practicing how to operate a vehicle, using an actual vehicle can sometimes prevent sufficient practice opportunities due to factors such as the environment or the absence of an instructor. Therefore, using a simulator is effective. For example, windsurfing involves gliding at high speeds of around 60 km / h several kilometers from the coast, making it difficult for an instructor to be nearby while operating a real vehicle. Furthermore, it is impossible to practice in weak winds. These problems can be solved by using a simulator.

[0003] In driving a vehicle, it is important to control the speed appropriately. For this reason, for example, a car driving simulator is equipped with a speedometer, and the driver can control the speed by using the accelerator and brake while checking the speedometer (see, for example, Non-Patent Document 1).

[0004] On the other hand, in vehicles where it is difficult to install a speedometer, such as windsurfing, methods have been considered to simulate the sense of speed in a real vehicle, such as displaying the speed on a 360-degree video using a VRHMD (Virtual Reality Head Mounted Display) or using a fan to blow wind on the pilot.However, these methods have limitations such as low video resolution and an inability to change the wind direction, making it difficult for the pilot to accurately read the sense of speed.

[0005] Therefore, in windsurfing simulators, a method has been proposed in which the live-action video displayed on a VRHMD is processed to add a clue to read the speed, so that the pilot can get a sense of vection from the video. One method for getting a sense of vection is to display a diffusing point cloud (optical flow) to make the pilot feel like they are moving forward (see, for example, Non-Patent Document 2).

[0006] Another proposed method for generating a sense of vection in a car simulator involves installing flashing lights on the road, allowing the driver to feel the difference between the speed at which the lights are moving and the speed at which the car is moving, thereby encouraging the driver to drive at an appropriate speed (see, for example, non-patent document 3).

[0007] Keiichi Ogawa and three others, "Application of a Simple Driving Simulator to the Analysis of Driving Behavior During Traffic Light Changes," Civil Engineering Planning Research Papers Vol. 26 No. 5, September 2009, Internet <URL: http: / / library.jsce.or.jp / jsce / open / 00041 / 2009 / 26-0865.pdf> Takeharu Senoo and one other, "Relationship between Monocular / Binocular Observation, Dominant / Non-Dominal Eye Observation, and Vection Intensity," Transactions of the Virtual Reality Society of Japan, Vol. 22, No. 4, pp. 553-559, 2017, Internet <URL: https: / / www.jstage.jst.go.jp / article / tvrsj / 22 / 4 / 22_553 / _pdf / -char / ja>Yuki Kawashima and five others, “A traffic engineering application of visually induced self-motion perception induced by flashing pillar-shaped objects installed on the side of the road to change a driver’s speed perception,” Journal of the Institute of Image Information and Television Engineers, Vol. 65, No. 6, 2011, Internet <URL: https: / / www.jstage.jst.go.jp / article / itej / 65 / 6 / 65_6_833 / _pdf / -char / ja>

[0008] However, even if training is performed to read the sense of speed using optical flow as in the method described in Non-Patent Document 2, the results of the training will not be put to use when operating an actual windsurfing aircraft, because optical flow does not exist when operating an actual aircraft.

[0009] Furthermore, the method described in Non-Patent Document 3 is intended for simulators of automobiles that travel on roads, and therefore is difficult to apply to simulators of vehicles that glide over the ocean, such as windsurfing, which has no flashing lights and few markers for determining speed.

[0010] In other words, the techniques described in Non-Patent Documents 2 and 3 have the problem that the results of the flight training do not contribute to improving the ability to read speed when flying an actual aircraft.

[0011] This invention was made with the above-mentioned circumstances in mind, and aims to provide a technology that enables a driver traveling in an area where there are no indicators for determining speed to effectively sense speed information.

[0012] In order to solve the above-mentioned problems, one aspect of a device or method for generating a piloting simulation video according to the present invention generates a simulation video to be presented to a trainee who is training to pilot a simulator body that simulates a vehicle that moves on water, by storing information representing a movement trajectory of the actual vehicle when the vehicle is operated and storing a peripheral video captured within at least the range of the pilot's field of view when the actual vehicle is operated. In this state, the device or method calculates the movement speed of the vehicle based on the information representing the movement trajectory, and calculates a display interval of objects used as a speed perception index based on the calculated movement speed. Then, based on the information representing the movement trajectory and the calculated display interval of the objects, an object video is generated in which the objects are arranged at regular intervals along the direction of travel of the vehicle, and the arrangement interval is controlled to be the display interval. The generated object video is then superimposed on the peripheral video to generate the simulation video.

[0013] According to one aspect of the present invention, for example, during training, an image of an object whose spacing varies according to the speed of the vehicle is superimposed on a peripheral image and presented to the trainee. That is, along with a live-action image of the surroundings that flows backward as the vehicle moves, an image of the object that flows backward at the same speed is displayed, and the display spacing of the object changes according to the speed of the vehicle. This allows the trainee to practice reading the speed from the movement of the object displayed together with the peripheral image.

[0014] That is, according to one aspect of the present invention, a technology can be provided that enables a driver moving through an area where there is no indicator for determining speed to effectively sense speed information.

[0015] FIG. 1 is a diagram showing an example of the configuration of a windsurfing simulator according to an embodiment of the present invention. FIG. 2 is a block diagram showing an example of the hardware configuration of a driving simulation video generation device according to an embodiment of the present invention. FIG. 3 is a block diagram showing an example of the software configuration of a driving simulation video generation device according to an embodiment of the present invention. FIG. 4 is a flowchart showing an example of the processing procedure and processing content of a driving simulation video generation process executed by a control unit of the driving simulation video generation device shown in FIG. 3. FIG. 5 is a diagram showing an example of windsurfing operations at different speeds. FIG. 6 is a diagram showing an example of setting object spacing according to the windsurfing speed. FIG. 7 is a diagram showing an example of processing for setting an object display position on a movement trajectory. FIG. 8 is a diagram showing an example of processing for setting an object display position on a movement trajectory. FIG. 9 is a diagram showing an example of processing for setting an object display position on a movement trajectory. FIG. 10 is a diagram showing an example of an object video. FIG. 11 is a diagram showing an example of a real-life video. FIG. 12 is a diagram showing a first example of a simulation video in which an object video is superimposed on a real-life video. FIG. 13 is a diagram showing a second example of a simulation video in which an object video is superimposed on a real-life video.

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0017] [One Embodiment] (Configuration Example) (1) System FIG. 1 is a diagram showing an example of the configuration of a windsurfing simulator system according to one embodiment of the present invention.

[0018] The windsurfing simulator system according to one embodiment is configured to reproduce the movements of windsurfing, and includes a simulator main body SS, a display device DS, and a maneuvering simulation image generating device CS.

[0019] The simulator main body SS includes a surfing section 100 on which a user undergoing piloting training boards, and a driving section 200 that supports the surfing section 100. The surfing section 100 includes a board 101 provided with a platform on which the user stands, a mast 102 erected on the board 101, and a boom 103 that the user holds.

[0020] The driving unit 200 includes an actuator 201 for reproducing the four-axial movements of pitch, roll, yaw, and heave that occur in an actual windsurfing machine. The driving unit 200 swings the board 101 and mast 102 of the surfing club 100 in the directions of the four axes by operating the actuator 201 in response to a drive control signal output from a simulator control device (not shown).

[0021] The drive unit 200 is not limited to the four axes mentioned above, but may be capable of supporting five or more axes, including the inclination angle of the mast section relative to the board, or may be capable of supporting only two axes, pitch and yaw, or only three axes, pitch, roll, and yaw.

[0022] The display device DS is, for example, a virtual reality head mounted display (VRHMD) and is worn on the user's head. The display device DS displays the simulation video output from the operation simulation video generation device CS. The display device DS may also include a speaker that outputs audio data.

[0023] (2) Maneuvering Simulation Image Generation Device CS FIGS. 2 and 3 are block diagrams showing an example of the hardware configuration and software configuration of the maneuvering simulation image generation device CS, respectively.

[0024] The maneuvering simulation image generating device CS is, for example, a personal computer, and includes a control unit 1 that uses a hardware processor such as a central processing unit (CPU). A storage unit having a program storage unit 2 and a data storage unit 3, and an input / output interface (hereinafter, interface will be abbreviated as I / F) unit 4 are connected to the control unit 1 via a bus 5.

[0025] The simulator main body SS and the display device DS are connected to the input / output I / F unit 4 via signal cables such as USB (Universal Serial Bus) cables. The input / output I / F unit 4 transmits and receives control signals and simulation video data between the simulator main body SS and the display device DS.

[0026] A position measurement device PS and an imaging device CM can also be connected to the input / output I / F unit 4. The position measurement device PS measures the latitude and longitude indicating the movement position of the actual windsurfing machine using, for example, a GPS (Global Positioning System) sensor while the actual windsurfing machine is gliding on the water, and outputs a collection of the measured latitude and longitude data as movement trajectory data to the maneuvering simulation image generation device CS.

[0027] The imaging device CM captures surrounding images using, for example, an omnidirectional (360-degree) camera attached to the head of the operator while gliding on the water using a real windsurfing machine, and outputs the captured surrounding image data to the operation simulation image generation device CS. Note that the imaging device CM is not limited to omnidirectional images, and may also capture panoramic images at least within the range of the operator's field of view.

[0028] Note that a wireless interface that employs a low-power wireless data transmission standard such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) may be used as the input / output I / F unit 4, or a wireless interface that complies with a public mobile wireless communication network standard such as 4G or 5G. Using a wireless interface can eliminate the need for signal cables connecting the simulator main body SS, display device DS, position measurement device PS, and imaging device CM, thereby increasing the degree of freedom for the user.

[0029] The program storage unit 2 is configured by combining, for example, a nonvolatile memory such as a solid-state drive (SSD) as a storage medium that can be written to and read from at any time, and a nonvolatile memory such as a read-only memory (ROM), and stores middleware such as an operating system (OS), as well as application programs required to execute various control processes according to an embodiment. Hereinafter, the OS and each application program will be collectively referred to as the program.

[0030] The data storage unit 3 is, for example, a combination of a non-volatile memory such as an SSD that can be written to and read from at any time as a storage medium, and a volatile memory such as a RAM (Random Access Memory), and its storage area is provided with a movement trajectory storage unit 31, a live-action video storage unit 32, and a limit speed storage unit 33.

[0031] The movement trajectory storage unit 31 is used to store movement trajectory data output from the position measurement device PS while the actual surfer is gliding. The actual image storage unit 32 is used to store peripheral image data output from the imaging device CM while the actual surfer is gliding as actual image data. The limit speed storage unit 33 stores information indicating a preset limit speed of the actual surfer.

[0032] The control unit 1 has processing functions used to implement one embodiment of the present invention, including a movement trajectory acquisition processing unit 11, a live-action image acquisition processing unit 12, a movement speed calculation processing unit 13, an object spacing calculation processing unit 14, an object image generation processing unit 15, and a simulation image generation processing unit 16.

[0033] Each of the processing units 11 to 16 is realized by causing a hardware processor in the control unit 1 to execute an application program stored in the program storage unit 2. Note that some or all of the processing units 11 to 16 may be realized using hardware such as an LSI (Large Scale Integration) or an ASIC (Application Specific Integrated Circuit).

[0034] The movement trajectory acquisition processing unit 11 receives movement trajectory data measured by the position measurement device PS via the input / output I / F unit 4 when the actual windsurfing equipment is being used to glide on the water, and stores the received movement trajectory data in the movement trajectory memory unit 31.

[0035] The live-action video acquisition processing unit 12 receives live-action video data representing the surrounding scenery captured by the imaging device CM via the input / output I / F unit 4 while gliding on the water using the actual windsurfing equipment as described above, and stores the received live-action video data in the memory unit 32.

[0036] The movement speed calculation processing unit 13 calculates the movement speed of the surfboard in time series based on the movement trajectory data stored in the movement trajectory storage unit 31, and outputs the calculated movement speed data to the object interval calculation processing unit 14.

[0037] The object interval calculation processing unit 14 calculates the display interval of objects, which is an index of the above-mentioned movement speed, based on the movement speed data calculated by the movement speed calculation processing unit 13 and the limit speed data stored in advance in the limit speed memory unit 33.

[0038] The object image generation processing unit 15 uses 3DCG (3-Dimensional Computer Graphics) technology to generate object image data in which the display interval of the objects calculated by the object interval calculation processing unit 14 is reflected in the arrangement interval of the objects.

[0039] The simulation video generation processing unit 16 generates simulation video data by superimposing the object video data generated by the object video generation processing unit 15 on the live-action video data read from the live-action video memory unit 32, and outputs the generated simulation video data from the input / output I / F unit 4 to the display device DS.

[0040] (Example of Operation) Next, an example of operation of the maneuvering simulation image generating device CS configured as above will be described.

[0041] (1) Obtaining a Movement Trajectory For example, while an instructor is gliding on the water using a windsurfing machine, the latitude and longitude indicating the gliding position are measured at one-second intervals using a position measurement device PS attached to the machine or the instructor. Then, a set of the measured latitude and longitude data is transmitted as movement trajectory data from the position measurement device PS to the maneuvering simulation image generation device CS.

[0042] In response to this, the control unit 1 of the operation simulation video generating device CS, under the control of the movement trajectory acquisition processing unit 11, receives the movement trajectory data transmitted from the position measurement device PS via the input / output I / F unit 4, and stores the received movement trajectory data in the movement trajectory memory unit 31.

[0043] In addition, the movement trajectory data may be stored in a storage medium such as a flash memory in the position measurement device PS, and the operation simulation image generation device CS may read the movement trajectory data from the storage medium and store it in the movement trajectory memory unit 31.

[0044] (2) Acquisition of live-action footage Similarly, when the instructor glides across the water using a real windsurfing machine, an imaging device CM attached to the instructor's head captures omnidirectional images of the surrounding area, and the captured live-action video data is transmitted from the imaging device CM to the operation simulation video generation device CS.

[0045] In response to this, the control unit 1 of the operation simulation video generation device CS, under the control of the live-action video acquisition processing unit 12, receives the live-action video data transmitted from the imaging device CM via the input / output I / F unit 4, and stores the received live-action video data in the live-action video memory unit 32.

[0046] In this case, as in the case of the movement trajectory data, the live-action video data may be stored in a storage medium such as a flash memory in the imaging device CM, and the operation simulation video generation device CS may read the live-action video data from the storage medium and store it in the live-action video storage unit 32.

[0047] (3) Setting the Limit Speed ​​A windsurfing board mainly comprises a sail that generates propulsion when exposed to wind, a board that generates buoyancy due to its small specific gravity, and a foil that converts propulsion into lift while in the water. When the board is moving slowly, as shown in Figure 5(a), the board lands on the water and its buoyancy supports the weight of the board. In contrast, when the board is moving at high speeds, as shown in Figure 5(b), the foil redirects the water flow downward, and the weight is supported by the lift generated by the reaction force. At this point, the board takes off from the water. If the speed increases further, the lift becomes excessive, and the foil may fly out of the water surface (WS) as shown in Figure 5(c), leading to an accident such as a fall. For this reason, users need to be trained to read their sense of speed so as not to exceed the limit speed.

[0048] Therefore, for example, a system operator sets the limit speed and inputs it into the maneuvering simulation image production device CS. The control unit 1 of the maneuvering simulation image production device CS stores the input information representing the limit speed in the limit speed memory unit 33. The limit speed at which the windsurfing foil pops out of the water is set to, for example, 80 km / h.

[0049] (4) Generation of Maneuvering Simulation Video When training begins, the control unit 1 of the maneuvering simulation video generation device CS executes the process of generating maneuvering simulation video to be used in training as follows.

[0050] FIG. 4 is a flowchart showing an example of the procedure and processing content of the simulation video generation processing executed by the control unit 1 of the maneuvering simulation video generation device CS.

[0051] (4-1) Calculation of movement speed When input of a request to start a simulation is detected in step S10, the control unit 1 of the operation simulation image generation device CS first reads movement trajectory data from the movement trajectory memory unit 31 in step S11 under the control of the movement speed calculation processing unit 13, and calculates the windsurfing movement speed in step S12 based on the time-series latitude and longitude data represented by the read movement trajectory data.

[0052] For example, the travel speed calculation processing unit 13 converts the time-series latitude and longitude (φ, λ) of the travel trajectory data into plane Cartesian coordinates (x, y) using a conversion formula. Then, assuming that the latitude and longitude at time t seconds are φ0 and λ0, and the latitude and longitude at time t+1 seconds are φ and λ, respectively, the windsurfing speed V [km / h] is calculated using the following formula:

[0053]

[0054] The above-mentioned method for calculating movement speed from latitude and longitude is described in detail in the following Reference 1. Reference 1: Internet <URL: https: / / vldb.gsi.go.jp / sokuchi / surveycalc / surveycalc / algorithm / bl2xy / bl2xy.htm>.

[0055] (4-2) Calculation of object spacing Next, in step S13, under the control of the object spacing calculation processing unit 14, the control unit 1 of the maneuvering simulation image generation device CS calculates the display spacing of objects, which is an indicator of the above-mentioned moving speed, based on the moving speed data calculated by the moving speed calculation processing unit 13 and the limit speed data stored in the limit speed memory unit 33, as follows:

[0056] That is, the object interval calculation processing unit 14 first calculates the difference between the moving speed V and the limit speed, and then calculates the object interval C so that it is wide when the moving speed V is fast and narrow when it is slow.

[0057] For example, if the speed limit is currently set to 80 km / h, the object interval C is set by the following formula: Figure 6 is a diagram showing an example of the intervals for the moving speeds set by this formula.

[0058]

[0059] (4-3) Generation of Object Image Next, in step S14, the control unit 1 of the piloting simulation image generation device CS generates an object image under the control of the object image generation processing unit 15 as follows.

[0060] That is, the object image generation processing unit 15 reads the latitude and longitude data from the movement trajectory storage unit 31, and also reads the object interval setting value C from the object interval calculation processing unit 14. Then, it generates object images that are arranged at equal intervals in the direction of travel on the left and right sides of the windsurfing path represented by the latitude and longitude data.

[0061] For example, similarly to the case of the calculation process of the moving speed, the object image generation processing unit 15 sets the latitude and longitude φ0, λ0 as the origin and calculates the latitude and longitude of the positioning point after the current position as φ ｎ , λ ｎ (n ≥ 1), φ ｎ , λ ｎ The result of converting into plane Cartesian coordinates is x ｎ , y ｎThen, points are set on this trajectory at regular intervals C. Here, the points (x ｎ , y ｎ ) and the point (x ｎ＋１ , y ｎ＋１ ) can be approximated by a straight line as follows:

[0062]

[0063] Then, the object video generation processing unit 15 calculates the starting point (x ０ , y ０ ) to point p at a distance C on the movement trajectory, the interval C is decomposed into the distance M from point 0 to point n and the distance N to p between point n and point n+1, and expressed as follows:

[0064]

[0065] The object image generation processing unit 15 sets the reference point (first point) of the object on the movement trajectory by sequentially repeating the above process. Fig. 7 shows an example of each reference point of the object set in this way.

[0066] Next, the object image generation processing unit 15 calculates the reference point p(x ｐ , y ｐ The object generation point (second point) is set at a distance D from the reference point (x ｐ , y ｐ ) is the point (x ｎ , y ｎ ) and the point (x ｎ＋１ , y ｎ＋１ ), the slope θ of this line can be expressed as follows, where arctan is the inverse function of tangent tan.

[0067]

[0068] When the inclination θ of the movement locus is rotated 90 degrees to the left, it becomes θ+π / 2, so the point L ｐ (x Ｌ ,y Ｌ ) is expressed as follows: Ｐ FIG. 10 is a diagram illustrating an example of a setting result.

[0069]

[0070] Similarly, point R, which is a distance D to the right ｐ (x Ｒ , y Ｒ ) is expressed as follows:

[0071]

[0072] FIG. 9 shows an example of object generation points L1 to L6 and R1 to R6 set on the left and right sides of the movement trajectory LM, respectively, based on each reference point set on the movement trajectory LM.

[0073] The object video generation processing unit 15 then generates an image of the object at each of the positions of the generation points set as described above. The object image can be generated by applying a general 3DCG technology such as OpenGL or Direct3D.

[0074] Figure 10 shows an example of an object image generated as described above. In this example, pole cones LV1, LV2, ..., RV1, RV2, ... are used as objects. The pole cones are modeled after those installed on the center line of a road, and are, for example, 80 cm high and have a cylindrical portion with a diameter of 8 cm. The areas of the object image OV other than the object are set transparent.

[0075] (4-4) Generation of Simulation Video Subsequently, under the control of the simulation video generation processing unit 16, the control unit 1 of the maneuvering simulation video generation device CS first reads out the live-action video data from the live-action video storage unit 32 in step S15. Then, in step S16, the simulation video generation processing unit 16 superimposes the object video data generated by the object video generation processing unit 15 on the live-action video data, thereby generating a simulation video.

[0076] For example, suppose that an actual image captured while windsurfing is actually being performed is read from the actual image storage unit 32 as shown in Fig. 11. In this case, the simulation image generation processing unit 16 superimposes the object image shown in Fig. 10 on the read-out image of the surroundings. As a result, a simulation image such as that shown in Fig. 12 or 13 is generated.

[0077] Here, Fig. 12 shows a simulation image when the moving speed is relatively slow, and the object spacing is set wide in accordance with the slow moving speed, while Fig. 13 shows a simulation image when the moving speed is relatively fast, and the object spacing is set narrower than in the case of the slow moving speed.

[0078] In step S17, the simulation video generation processing section 16 transmits the generated simulation video to the display device DS from the input / output I / F section 4. As a result, the simulation video is displayed on the display device DS.

[0079] Therefore, by viewing the simulation image displayed on the display device DS, the user can have a simulated experience of windsurfing, and can also get a sense of speed from the display intervals of the object images.

[0080] That is, the display device DS displays the object image flowing backward at the same speed as the surrounding image flowing backward as the windsurfing progresses. The display interval of the objects changes according to the speed of the windsurfing. This allows the user to clearly perceive the speed of the movement from the display interval of the objects flowing backward as well as the surrounding image flowing backward.

[0081] (Functions and Effects) As described above, in one embodiment, a movement speed is calculated based on latitude and longitude data representing a movement trajectory of a position when the actual aircraft was operated, and a display interval of objects used as a speed perception index is calculated based on the calculated movement speed. Then, based on the latitude and longitude data representing the movement trajectory and the display interval of the objects, an object image is generated in which the objects are arranged at regular intervals along the direction of travel and the arrangement interval is controlled to be the display interval. A simulation image is generated by superimposing the generated object image on an actual image captured when the actual aircraft was operated, and the generated simulation image is displayed on the display device DS.

[0082] Therefore, the display device DS displays object images whose intervals change according to the speed along with the surrounding images that flow backward as the windsurfing progresses, allowing the user to sense the speed from the object images displayed together with the surrounding images that flow backward, and also enabling the user to clearly perceive the moving speed from the display intervals of the objects.

[0083] Other Embodiments (1) In one embodiment, the spacing between objects is changed linearly in response to the moving speed when the moving speed is within the appropriate range. However, the change in the spacing between objects in response to the moving speed may be changed in a curved manner, and the rate of change may be set arbitrarily.

[0084] (2) In addition to displaying the object image, the simulation image may also display an alarm message when the moving speed reaches a limit speed. The alarm message may be, for example, a flashing red lamp image. Furthermore, in addition to displaying the alarm message, a chime or other sound may also be generated.

[0085] (3) In one embodiment, the description has been given of an example in which the maneuvering simulation image generation device CS is configured using a personal computer and placed near the simulator main body SS. However, the present invention is not limited to the above example. For example, the functions of the maneuvering simulation image generation device CS may be provided in a server computer placed on the web or in the cloud, and simulation image data may be transmitted from the server computer to the display device DS for display. Furthermore, the processing functions and storage units of the maneuvering simulation image generation device CS may be distributed across multiple personal computers or server computers.

[0086] (4) In addition, the functional configuration of the driving simulation image generation device CS, its processing procedures and processing content, the type of vehicle to be simulated (e.g., a jet ski), the configuration of the simulator itself, etc. can be modified and implemented in various ways within the scope of the gist of this invention.

[0087] Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. In other words, when implementing the present invention, specific configurations according to the embodiments may be appropriately adopted.

[0088] In short, this invention is not limited to the above-described embodiments, and in the implementation stage, the components can be modified and embodied without departing from the spirit of the invention. Furthermore, various inventions can be formed by appropriately combining multiple components disclosed in the above-described embodiments. For example, some components may be omitted from all the components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined.

[0089] SS...Simulator main body 100...Surfing part 101...Board 102...Mast 103...Boom 200...Drive part 201...Actuator CS...Maneuvering simulation image generation device DS...Display device PS...Position measurement device CM...Image capture device 1...Control part 2...Program memory part 3...Data memory part 4...Input / output I / F part 5...Bus 11...Movement trajectory acquisition processing part 12...Actual image acquisition processing part 13...Movement speed calculation processing part 14...Object interval calculation processing part 15...Object image generation processing part 16...Simulation image generation processing part 31...Movement trajectory storage part 32...Actual image storage part 33...Limit speed storage part

Claims

1. A piloting simulation image generating device that generates simulation images to be presented to a trainee who is training to pilot a vehicle that moves on water by boarding a simulator body that simulates a vehicle that moves on water, comprising: a first memory unit that stores information representing a movement trajectory of a position when the actual vehicle is piloted; a second memory unit that stores a peripheral image captured within at least the range of the pilot's field of view when the actual vehicle is piloted; a first processing unit that calculates a movement speed of the vehicle based on the information representing the movement trajectory; a second processing unit that calculates a display interval of an object used as a speed perception index based on the calculated movement speed; a third processing unit that generates object images in which the objects are arranged at regular intervals along the traveling direction of the vehicle and the intervals are controlled to be the display intervals based on the information representing the movement trajectory and the calculated display interval of the objects; and a fourth processing unit that generates the simulation image by superimposing the object image on the peripheral image.

2. The driving simulation image generating device of claim 1, wherein the second processing unit calculates the display interval of the object by taking into account the calculated moving speed and a preset limit speed of the vehicle.

3. The maneuvering simulation image generating device according to claim 1, wherein the second processing unit calculates the display interval of the objects so that the interval becomes narrower as the moving speed increases.

4. A driving simulation image generating device as described in claim 1, wherein the third processing unit generates the object image in which a row of the objects is arranged along the direction of travel on each side of the vehicle's path.

5. The maneuvering simulation image generating device of claim 4, wherein the third processing unit sets a first point on the movement trajectory at the display interval, sets a second point and a third point at a predetermined distance from each other in a left-right direction perpendicular to the movement trajectory based on the first point, and generates a row of the objects at the second point and the third point, respectively.

6. A method for generating a piloting simulation image using an information processing device to generate a simulation image to be presented to a trainee who is undergoing piloting training while riding on a simulator body that simulates a vehicle that moves on water, the method comprising the steps of: acquiring information representing a movement trajectory of a position when the actual vehicle is piloted, and calculating the movement speed of the vehicle based on the acquired information representing the movement trajectory; calculating a display interval of an object used as a speed perception index based on the calculated movement speed; generating an object image in which the objects are arranged at regular intervals along the traveling direction of the vehicle, and the interval is controlled to be the display interval, based on the information representing the movement trajectory and the calculated display interval of the objects; and generating the simulation image by superimposing the object image on a peripheral image captured within at least the range of the pilot's field of view when piloting the actual vehicle.

7. A program for causing a processor provided in a driving simulation video generation device to execute at least one of the processes performed by the first to fourth processing units provided in the driving simulation video generation device described in any one of claims 1 to 5.