Driving simulation method, driving simulation device, and program for driving simulation

Abstract

Provided is a driving simulation method capable of easily conducting driving training. Specifically, on the basis of an output signal from an operation detection section (18) that detects an operation performed on an operation input section (2) of a real vehicle (C1), the behavior of a virtual vehicle corresponding to the operation performed on the virtual vehicle in a virtual space is calculated. On the basis of the calculated behavior, image data of a virtual image is generated. On the basis of the generated image data, the virtual image is displayed on an image display section (3) of the real vehicle (C1).

Description

Driving simulation method, driving simulation device, and driving simulation program

[0001] The present disclosure relates to a driving simulation method, a driving simulation device, and a driving simulation program.

[0002] Conventionally, a technique has been proposed for an electric vehicle that includes a pseudo clutch pedal and a shift lever, and evaluates a driver's skill based on operations of the clutch pedal and the shift lever during driving (see, for example, Patent Document 1). In the technique described in Patent Document 1, by notifying the driver of the evaluated skill, the driver is trained to operate the clutch pedal and the shift lever.

[0003] Japanese Patent Application Laid-Open No. 2022-036908

[0004] However, in the technique described in Patent Document 1, it is necessary to provide a dedicated input device such as a pseudo clutch pedal or a shift lever for the electric vehicle, and it is also necessary to actually drive the electric vehicle on a road or the like. Therefore, the driver could not easily train for driving. An object of the present disclosure is to provide a driving simulation method, a driving simulation device, and a driving simulation program that can easily train for driving a real vehicle.

[0005] A driving simulation method according to one aspect of the present disclosure calculates the behavior of a virtual vehicle when an operation is performed on the virtual vehicle in a virtual space based on an output signal of an operation detection unit that detects an operation performed on an operation input unit of a real vehicle, generates virtual image data based on the calculated behavior, and displays a virtual image on an image display unit of the real vehicle based on the generated image data.

[0006] Further, a driving simulation device according to one aspect of the present disclosure includes an operation detection unit that detects an operation performed on an operation input unit of a real vehicle, a behavior calculation unit that calculates the behavior of a virtual vehicle when an operation is performed on the virtual vehicle in a virtual space based on an output signal of the operation detection unit, and a display control unit that generates virtual image data based on the behavior calculated by the behavior calculation unit and displays a virtual image on an image display unit of the real vehicle based on the generated image data.

[0007] Furthermore, a driving simulation program according to one aspect of the present disclosure is a driving simulation program that causes a computer to function as a behavior calculation unit that calculates the behavior of a virtual vehicle in a virtual space when an operation is performed on a virtual vehicle in a virtual space, based on an output signal of an operation detection unit that detects an operation performed on an operation input unit of an actual vehicle, and a display control unit that generates image data of a virtual image based on the behavior calculated by the behavior calculation unit, and displays the virtual image on an image display unit of the actual vehicle based on the generated image data.

[0008] This disclosure provides a driving simulation method, a driving simulation device, and a driving simulation program that enable easy training in driving actual vehicles.

[0009] This is a diagram showing the schematic configuration of the driving simulation device of the embodiment. This is a diagram showing the functions realized by the calculation unit. This is a diagram showing the virtual space, virtual vehicle, and virtual object. This is a diagram showing the training menu and tasks. This is a diagram showing the image display unit and virtual image. This is a flowchart showing the overall flow of the driving simulation method. This is a diagram showing the schematic configuration of the driving simulation device of modification (1). This is a diagram showing the schematic configuration of the driving simulation device of modification (2).

[0010] The embodiments of this disclosure will be described below with reference to the drawings. Note that the drawings are schematic and may differ from actual ones. Furthermore, the embodiments of this disclosure shown below are illustrative examples of devices and methods for realizing the technical concept of this disclosure, and the technical concept of this disclosure is not limited to the structure, arrangement, etc., of the components described below. The technical concept of this disclosure can be modified in various ways within the technical scope defined by the claims described in the patent claims.

[0011] (Configuration) Figure 1 is a diagram showing the schematic configuration of the driving simulation device 1 of this embodiment. In this embodiment, as shown in Figure 1, an example is shown in which the driving simulation method and driving simulation device of this disclosure are applied to a driving simulation device 1 using a normal vehicle (hereinafter also referred to as "actual vehicle C1"). The driving simulation device 1 of this embodiment is mounted on the actual vehicle C1 and, when the training mode is turned on, is a device that enables training in driving the actual vehicle C1 using the operation input unit 2 and image display unit 3 etc. that the actual vehicle C1 has in advance. In other words, it is a device that operates the actual vehicle C1 as a simulator for training the actual vehicle C1. The training mode is a mode in which changes in the steering angle of the tires, driving force and braking force, and the range of the transmission of the actual vehicle C1 are prohibited by operations on the operation input unit 2.

[0012] First, let's describe the actual vehicle C1 equipped with the driving simulation device 1. The actual vehicle C1 is equipped with an operation input unit 2, an image display unit 3, a speaker 4, and a vibration device 5. The operation input unit 2 is an input unit that receives operation input when the actual vehicle C1 is being driven. For example, it includes at least one of the following: a steering wheel 6, an accelerator pedal 7, a brake pedal 8, a clutch pedal 9, a shift lever 10, and an operation switch 11 for an on-board electrical component. Examples of on-board electrical components include hazard lights, wipers, and headlights. The image display unit 3 is a display unit that displays various information when the actual vehicle C1 is being driven. For example, it includes at least one of the following: an electronic mirror, an on-board infotainment (IVI) display, an around-view monitor (AVM), a meter display, and a head-up display. Figure 1 illustrates a case where the image display unit 3 includes a right electronic side mirror 12 (electronic mirror), a left electronic side mirror 13 (electronic mirror), an electronic rearview mirror 14 (electronic mirror), a navigation display 15 (in-vehicle infotainment display), and a meter display 16. The right electronic side mirror 12 is located near the right front pillar inside the vehicle and displays an image of the right rear of the actual vehicle C1 taken by an external camera (not shown). The left electronic side mirror 13 is located near the left front pillar inside the vehicle and displays an image of the left rear of the actual vehicle C1 taken by an external camera (not shown). The electronic rearview mirror 14 is located near the top of the windshield inside the vehicle and displays an image of the rear of the actual vehicle C1 taken by an external camera (not shown). The navigation display 15 is located on the center side of the dashboard and displays images of route guidance from a navigation device (not shown). The meter display 16 is located on the driver's side of the dashboard and displays vehicle speed, engine speed, etc.

[0013] Furthermore, speaker 4 is located inside the vehicle and outputs route guidance voice messages, etc. Vibration device 5 is located on the steering wheel 6 and seat and applies vibration to the driver's hands and body. In addition, the actual vehicle C1 employs a by-wire system (steer-by-wire, throttle-by-wire, brake-by-wire, shift-by-wire) for the steering, throttle, brake, and shift systems. Specifically, in the actual vehicle C1, the steering wheel 6, accelerator pedal 7, brake pedal 8, and shift lever 10 are not mechanically connected to the tires, throttle valve, disc brakes, transmission mechanism, etc. Furthermore, steering reaction force, accelerator pedal reaction force, and brake pedal reaction force can be applied via the steering wheel 6, accelerator pedal 7, and brake pedal 8.

[0014] Next, the driving simulation device 1 will be described. The driving simulation device 1 comprises a mode switching unit 17, an operation detection unit 18, and a calculation unit 19. The mode switching unit 17 is located inside the vehicle and is a switching unit that switches the training mode on and off. For example, a circuit with a switch that can be manually operated by the driver can be used. This allows the training mode to be switched on and off by a predetermined operation by the driver. When the training mode is off, the mode switching unit 17 allows changes in the steering angle, driving force, braking force, and transmission range of the actual vehicle C1 by operations on the operation input unit 2. For example, it allows steer-by-wire devices to operate normally. As a result, the actual vehicle C1 operates as a normal vehicle. On the other hand, when the training mode is on, the mode switching unit 17 prohibits changes in the steering angle, driving force, braking force, and transmission range by operations on the operation input unit 2. For example, it stops the operation of tires, throttle valves, disc brakes, transmission mechanisms, etc., by steer-by-wire devices. Furthermore, the steering reaction force, accelerator pedal reaction force, and brake pedal reaction force provided by the drive-by-wire system will function normally. As a result, the actual vehicle C1 will operate as a training simulator for the actual vehicle C1. That is, when the training mode is on, the virtual images 39 to 42 described later will be displayed. At that time, changes in the CAN signal of the actual vehicle C1 due to operations on the operation input unit 2 will also be prohibited.

[0015] The operation detection unit 18 is a sensor that detects operations performed on the operation input unit 2 of the actual vehicle C1. Examples of the operation detection unit 18 include a steering operation detection unit 20, an accelerator operation detection unit 21, a brake operation detection unit 22, a clutch operation detection unit 23, a shift operation detection unit 24, and an electrical component operation detection unit 25. The steering operation detection unit 20 detects the amount of steering of the steering wheel 6 and generates an output signal corresponding to the detected amount of steering. The accelerator operation detection unit 21 detects the amount of depression of the accelerator pedal 7 and generates an output signal corresponding to the detected amount of depression. The brake operation detection unit 22 detects the amount of depression of the brake pedal 8 and generates an output signal corresponding to the detected amount of depression. The clutch operation detection unit 23 detects the amount of depression of the clutch pedal 9 and generates an output signal corresponding to the detected amount of depression. The shift operation detection unit 24 detects the position of the shift lever 10 and generates an output signal corresponding to the detected position. Furthermore, the electrical component operation detection unit 25 detects the operating state of the operation switch 11 of the in-vehicle electrical component and generates an output signal corresponding to the detected operating state. The generated output signal (hereinafter also referred to as the "operation signal") is output to the calculation unit 19.

[0016] The arithmetic unit 19 is a computer comprising a processor 26 and peripheral components such as a storage device 27 for storing programs, etc. For example, the processor 26 can be a CPU (Central Processing Unit) or an MPU. For example, the storage device 27 can be a semiconductor storage device, a magnetic storage device, or an optical storage device. The storage device 27 may also include registers, cache memory, and memory such as ROM and RAM used as main memory. The processor 26 executes the driving simulation program stored in the storage device 27, and as shown in Figure 2, functions as a behavior calculation unit 28, a training task calculation unit 29, a display control unit 30, a screen effect calculation unit 31, and a score calculation unit 32. That is, the driving simulation program is a program that causes the computer to function as the behavior calculation unit 28 and the display control unit 30. Figure 2 shows the various functions realized by the arithmetic unit 19.

[0017] The behavior calculation unit 28 calculates the behavior of the virtual vehicle C2 in the virtual space 33 when the operation indicated by the operation signal is performed on the virtual vehicle C2, based on the output signal (operation signal) of the operation detection unit 18, as shown in Figure 3. The virtual vehicle C2 is a high-precision 3D model that mimics the actual vehicle C1 in the virtual space 33. The external shape of the virtual vehicle C2 is created in the virtual space 33 with the same dimensions and shape as the actual vehicle C1. Furthermore, the dynamic characteristics of the virtual vehicle C2 are set so that when the same operation is performed on the operation input section 2 (steering wheel 6 to shift lever 10) of the actual vehicle C1 and the operation input section of the virtual vehicle C2, the actual vehicle C1 and the virtual vehicle C2 move in the same way. In addition, the on-board electrical components of the virtual vehicle C2 (e.g., hazard lights, wipers, headlights) are set to function in the same way as the on-board electrical components of the actual vehicle C1 when their operation switches are operated. Furthermore, the virtual vehicle C2 is equipped with virtual cameras 34, 35, 36, and 37. Virtual camera 34 is positioned at the eye level of the virtual driver in the driver's seat of the virtual vehicle C2 and is set to photograph the area in front of the virtual vehicle C2. Virtual cameras 35 to 37 are positioned in the same locations as the exterior cameras of the actual vehicle C1, namely the right electronic side mirror 12, the left electronic side mirror 13, and the electronic rearview mirror 14, and are set to photograph the same direction and range. In addition to the virtual vehicle C2, the virtual space 33 contains virtual objects 38 for conducting at least one of the following: parking practice, S-curve practice, obstacle avoidance practice, vehicle width perception training, and a tutorial on the driving assistance functions of the actual vehicle C1. The virtual objects 38 are polygon models representing obstacles and scenery located around the virtual vehicle C2. Figure 3 illustrates a case where "parking" is selected as the task, and obstacles (pylons) for "parking practice" are placed as virtual objects 38. Figure 3 shows the virtual space 33, the virtual vehicle C2, and the virtual object 38.

[0018] When the training mode is turned on, the training task calculation unit 29 displays a training menu containing a predetermined number of tasks on the image display unit 3 (for example, the navigation display 15). This allows the driver to select the desired task they wish to train on. Task selection is performed, for example, using an input device (for example, a touch panel) on the navigation display 15. Examples of tasks include, as shown in Figure 4, training in parking, S-curve training, obstacle avoidance training, training in developing a sense of vehicle width, and at least one of the driving assistance functions of the actual vehicle C1. Examples of driving assistance functions include advanced driver assistance system (ADAS) functions and autonomous driving (AD) functions. This allows, for example, if a new driving assistance function can be purchased as a subscription service, the driver to experience a tutorial on the purchased function or a driving assistance function being considered for purchase. The task ends when the virtual vehicle C2 reaches a predetermined position in the virtual space 33. For example, if "parking" is selected as the task, the predetermined position can be "parking position". Figure 4 is a diagram showing the training menu and tasks.

[0019] When one task is selected from among the multiple tasks displayed on the navigation display 15, the display control unit 30 places the virtual vehicle C2 at an initial position O in the virtual space 33 that is pre-associated with the selected task, as shown in Figure 3. Next, it places a virtual object 38 corresponding to the selected task in the virtual space 33. The screen effect calculation unit 31 sets the texture and other properties of the virtual object 38. Subsequently, as shown in Figure 5, the display control unit 30 generates image data of virtual images 39, 40, 41, and 42 obtained when the virtual space 33 is photographed by virtual cameras 34 to 37 mounted on the virtual vehicle C2, and displays the virtual images 39 to 42 on the image display unit 3 based on the generated image data. The image data is generated using a game engine that generates images in response to user operations, such as UNREAL ENGINE® or Unity®. The display control unit 30 also displays the content of the selected task and a training start message on the image display unit 3 (for example, the navigation display 15).

[0020] Subsequently, the display control unit 30 generates image data for virtual images 39 to 42 based on the behavior of the virtual vehicle C2 calculated by the behavior calculation unit 28, and displays the virtual images 39 to 42 on the image display unit 3 based on the generated image data. As a result, virtual images 39 to 42 (videos) corresponding to the operations performed by the driver on the operation input unit 2 are continuously displayed on the image display unit 3. Therefore, the driver can be given feedback on the operations performed on the operation input unit 2. Figure 5 illustrates a case where "parking" is selected as the task, and a 3D image of an obstacle (pylon) and background is used as the virtual object 38 corresponding to the task. Figure 5 is a diagram showing the image display unit 3 and virtual images 39 to 42. One example of an image data generation method is to generate image data of virtual images 39 to 42 obtained when the virtual space 33 is photographed by virtual cameras 34 to 37 based on the behavior of the virtual vehicle C2. For example, based on the behavior of the virtual vehicle C2, the position and orientation of the virtual vehicle C2 in the virtual space 33 are calculated, the relative position of the virtual object 38 to the virtual vehicle C2 is calculated based on the calculated position and orientation, and image data of virtual images 39 to 42 are generated based on the calculated relative position.

[0021] Specifically, as shown in Figure 2, the display control unit 30 includes a forward view drawing unit 43, a right rear view drawing unit 44, a left rear view drawing unit 45, and a central rear view drawing unit 46. The forward view drawing unit 43 displays a virtual image 39 obtained when a virtual camera 34 takes a picture of the front of the virtual vehicle C2 in the virtual space 33 on the navigation display 15. The right rear view drawing unit 44 displays a virtual image 40 obtained when a virtual camera 35 takes a picture of the right rear of the virtual vehicle C2 in the virtual space 33 on the right electronic side mirror 12. The left rear view drawing unit 45 displays a virtual image 41 obtained when a virtual camera 36 takes a picture of the left rear of the virtual vehicle C2 in the virtual space 33 on the left electronic side mirror 13. The central rear view drawing unit 46 displays a virtual image 42 obtained when a virtual camera 37 takes a picture of the central rear of the virtual vehicle C2 in the virtual space 33 on the electronic rearview mirror 14. In this case, as shown in Figure 5, the meter display 16 may display the vehicle speed of the virtual vehicle C2, a map showing the position of the virtual vehicle C2 in the virtual space 33, etc. The display control unit 30 may also control the speaker 4 and vibration device 5 to enhance the sense of realism.

[0022] As shown in Figure 3, the screen effect calculation unit 31 sets a light source 47 in the virtual space 33 and sets a texture for the virtual object 38. This allows the texture of the virtual object 38 to be realistically represented, giving the driver the feeling of driving a real vehicle C1 in a real space. When the selected task is completed, the score calculation unit 32 scores the driver's skill based on the driver's achievement of the task. For example, if "parking" is selected as the task, and the completion condition for the task is that the virtual vehicle C2 reaches a predetermined parking position, the achievement status of the task can include the time it took for the virtual vehicle C2 to reach the parking position, the number of times the virtual vehicle C2 came into contact with an obstacle, the number of times the virtual vehicle C2 made a U-turn, etc. The score calculation unit 32 also displays the skill score on the image display unit 3.

[0023] (Operation) Next, the process flow for training the driving of the actual vehicle C1 in training mode will be explained. Figure 6 is a flowchart showing the overall flow of the driving simulation method of this embodiment. First, after the driver parks the actual vehicle C1 (S101 in Figure 6), the driver operates the on / off switch of the mode switching unit 17 to turn on the training mode (S102 in Figure 6). Subsequently, the mode switching unit 17 prohibits changes in steering angle, driving force, braking force, and transmission range by operations on the operation input unit 2 (S103 in Figure 6). That is, the operation input unit 2 is disconnected from the actual vehicle C1. Next, the training task calculation unit 29 displays a training menu containing multiple tasks on the image display unit 3 (S104 in Figure 6). This allows the driver to select a specific task from the training menu (S105 in Figure 6). Subsequently, the display control unit 30 displays a training start message on the navigation display 15 (S106 in Figure 6).

[0024] Next, as shown in Figure 3, the display control unit 30 places the virtual vehicle C2 at the initial position O in the virtual space 33 associated with the selected task, and places the virtual object 38 corresponding to the selected task in the virtual space 33. The screen effect calculation unit 31 also sets the texture and other properties of the virtual object 38. Next, as shown in Figure 5, the display control unit 30 displays the virtual images 39 to 42 obtained when the virtual space 33 is photographed by the virtual cameras 34 to 37 on the image display unit 3 (right electronic side mirror 12, left electronic side mirror 13, electronic rearview mirror 14, navigation display 15) (S107 in Figure 6). In Figure 5, "parking" is selected as the task, and a 3D image of obstacles (pylons) and the background is displayed as the virtual object 38 corresponding to the task. Note that in Figure 3, the 3D image of the background is omitted for simplicity. Next, the display control unit 30 displays the content of the task selected by the driver on the image display unit 3 (S108 in Figure 6). As a result, the driver operates the operation input unit 2 (steering wheel 6, accelerator pedal 7, brake pedal 8, clutch pedal 9, shift lever 10, and operation switches 11 for onboard electrical components) to complete the task, and the operation detection unit 18 detects the operation performed on the operation input unit 2 and outputs an operation signal (S109 in Figure 6).

[0025] Next, the behavior calculation unit 28 calculates the behavior of the virtual vehicle C2 based on the operation signals (S110 in Figure 6). Subsequently, the display control unit 30 displays virtual images 39 to 42 (external scenery) obtained when the virtual space 33 (including virtual objects 38) is photographed by the virtual cameras 34 to 37 on the image display unit 3 based on the calculated behavior (S111 in Figure 6). As a result, the external scenery corresponding to the operations performed by the driver is displayed on the image display unit 3, and feedback to the driver is provided for the operations performed on the operation input unit 2. Therefore, by looking at the image display unit 3 and performing operations according to the task (for example, parking), the driver can be given the feeling of driving a real vehicle C1 in a real space. In other words, the real vehicle C1 can be operated as a training simulator. At the same time, steering reaction force, accelerator pedal reaction force, and brake pedal reaction force are also provided by a drive-by-wire system. Subsequently, the score calculation unit 32 determines whether the selected task has been achieved (S112 in Figure 6). If it is determined that the virtual vehicle C2 has not reached the parking position and the task has not been completed (S112 "No" in Figure 6), the above flow from S109 to S112 is repeatedly executed.

[0026] As the flow from S109 to S112 described above is repeated, the driver may achieve the task (for example, the virtual vehicle C2 reaches the parking position). The score calculation unit 32 then determines that the task has been achieved (S112 "Yes" in Figure 6) and displays the driver's skill score on the image display unit 3 (S113 in Figure 6). Next, it determines whether the driver has turned off the training mode by operating the on / off switch of the mode switching unit 17 (S114 in Figure 6). If the training mode remains on, the process returns to S107, the position of the virtual vehicle C2 is returned to its initial position in the virtual space 33, and the flow from S107 to S114 is executed again. On the other hand, if the driver has turned off the training mode (S114 "Yes" in Figure 6), the mode switching unit 17 allows changes in the steering angle, driving force, braking force, and transmission range of the actual vehicle C1 by operation on the operation input unit 2 (S115 in Figure 6). In other words, the operation input unit 2 is connected to the actual vehicle C1. As a result, the actual vehicle C1 operates as a normal vehicle.

[0027] (Effects of this embodiment) (1) In this embodiment, based on the output signal of the operation detection unit 18 that detects operations performed on the operation input unit 2 of the actual vehicle C1, the behavior of the virtual vehicle C2 in the virtual space 33 is calculated when that operation is performed on the virtual vehicle C2. Based on the calculated behavior, image data of virtual images 39 to 42 is generated. Based on the generated image data, the virtual images 39 to 42 are displayed on the image display unit 3 of the actual vehicle C1. As a result, the actual vehicle C1 can be operated as a training simulator by using the operation input unit 2 that the actual vehicle C1 has in advance as an input device and the image display unit 3 that the actual vehicle C1 has in advance as an output device. Therefore, according to this embodiment, drivers can easily train to drive the actual vehicle C1. In addition, during driving training, for example, the scenery outside the vehicle, including obstacles, can be confirmed using the actual vehicle C1. For example, the view of obstacles from the right electronic side mirror 12, the left electronic side mirror 13, and the electronic rearview mirror 14 can be confirmed. This allows users to, for example, develop a sense of vehicle width by using simulated obstacles when purchasing a vehicle with a wide body. It also allows users to check the view outside the vehicle when using new driving assistance functions (e.g., advanced driver assistance systems, autonomous driving functions) using the actual vehicle C1. Furthermore, since the actual vehicle C1 is not driven during driving training, even if the user comes into contact with an obstacle in the virtual space 33, the actual vehicle C1 will not be damaged. Therefore, it is suitable for practicing parking and driving on narrow roads, and is also ideal for training inexperienced drivers. Additionally, by not driving the actual vehicle C1, users can avoid disturbing others if they struggle to operate new driving assistance functions.

[0028] (2) In this embodiment, as image data, image data of a virtual image obtained when the virtual space 33 is photographed by virtual cameras 34 to 37 mounted on the virtual vehicle C2 is generated based on the behavior of the virtual vehicle C2. This makes it possible to generate image data more appropriately.

[0029] (3) In this embodiment, the operation input unit 2 includes at least one of the steering wheel 6, accelerator pedal 7, brake pedal 8, clutch pedal 9, shift lever 10, and operation switches 11 for onboard electrical components. That is, the operation input unit 2 uses input means that are normally provided in a vehicle. Therefore, for example, compared to the case where dedicated input means are used, a simulator for training with an actual vehicle C1 can be realized at a relatively low cost.

[0030] (4) In this embodiment, the image display unit 3 includes at least one of the following: right electronic side mirror 12 (electronic mirror), left electronic side mirror 13 (electronic mirror), electronic rearview mirror 14 (electronic mirror), in-vehicle infotainment display, around view monitor, meter display 16, and head-up display. In other words, the image display unit 3 uses display means that have become common in vehicles in recent years. Therefore, for example, a training simulator can be realized at a relatively low cost compared to using dedicated display means.

[0031] (5) In this embodiment, the virtual space 33 contains virtual objects 38 for performing at least one of the following: training in parking, training in S-shaped turns, training in obstacle avoidance, training in developing a sense of vehicle width, and a tutorial on the driving assistance functions of the actual vehicle C1. This allows the user to learn about the vehicle's dimensions and how to use the driving assistance functions of the actual vehicle C1.

[0032] (6) In addition, this embodiment has a training mode that prohibits changes in the steering angle of the tires, driving force and braking force, and the gear range of the actual vehicle C1 as a result of operations on the operation input unit 2. When the training mode is on, the image display unit 3 displays virtual images 39 to 42. This makes it possible to prevent the actual vehicle C1 from moving in response to operations on the operation input unit 2 during driving training, for example, when the actual vehicle C1 is operated as a simulator.

[0033] (7) In this embodiment, the training mode can be switched on and off by a predetermined operation by the driver. This allows the driver to decide whether to operate the actual vehicle C1 as a training simulator or as a normal vehicle.

[0034] (8) In this embodiment, when the training mode is turned on, if one task is selected from a predetermined set of tasks, the virtual vehicle C2 is placed at an initial position in the virtual space 33 that is pre-associated with the selected task, the virtual object 38 corresponding to the selected task is placed in the virtual space 33, and the virtual images 39 to 42 obtained when the virtual space 33 is photographed by the virtual cameras 34 to 37 mounted on the virtual vehicle are displayed on the image display unit 3. This allows the image at the start of the task to be displayed on the image display unit 3, and the selected task can be started.

[0035] (9) In this embodiment, the task ends when the virtual vehicle C2 reaches a predetermined position in the virtual space 33. For example, if the task is "parking," the task can be ended when the virtual vehicle C2 reaches the parking position.

[0036] (10) In this embodiment, once the task is completed, the driver's skill is scored based on the driver's performance in completing the task, and the score is displayed on the image display unit 3. This allows the driver to receive feedback on the results of the simulator training.

[0037] (Modification) (1) In this embodiment, an example is shown in which the driver's skill scoring results are displayed on the image display unit 3, but other configurations can also be adopted. For example, as shown in Figure 7, if there are other drivers who have scored their skills using other vehicles of the same type as the actual vehicle C1, the image display unit 3 may be configured to display a ranking of the skill scoring results for the driver of the actual vehicle C1 and the other drivers. This can create a desire to aim for a higher ranking and encourage drivers to train more diligently. In this case, for example, the driving simulation device 1 may be further equipped with a communication unit 48, and a server device 49 may be provided outside the actual vehicle C1. The communication unit 48 is a wireless communication unit that provides wireless communication functionality between the driving simulation device 1 and the server device 49. As for the communication method of the communication unit 48, for example, wireless communication using a public mobile communication network or vehicle-to-infrastructure communication can be adopted. The driving simulation device 1 transmits the skill scoring results, vehicle type information of the actual vehicle C1, and driver information to the server device 49 via the communication unit 48. Furthermore, the server device 49 stores the skill scoring results, vehicle type information, and driver information transmitted from the communication unit 48 in the storage device 50, associating them with each other. As a result, the storage device 50 stores the scoring results and other information transmitted from multiple driving simulation devices 1. The server device 49 also reads the scoring results and driver information from the storage device 50 that are associated with the same vehicle type information that was transmitted. Based on the read scoring results and driver information, the server device 49 creates a ranking of each driver's scoring results and transmits the created ranking information to the driving simulation device 1 that transmitted the scoring information. The driving simulation device 1 receives the ranking information from the server device 49 via the communication unit 48 and displays the ranking indicated by the received information on the image display unit 3.

[0038] (2) In this embodiment, an example is shown in which virtual images 39 to 42 are displayed on the image display unit 3, but other configurations can also be adopted. For example, as shown in Figure 8, a tablet terminal 51 may be placed near a specific window glass of the actual vehicle C1, and based on the behavior of the virtual vehicle C2 calculated by the behavior calculation unit 28, image data of the virtual space 33 that can be seen from inside the virtual vehicle C2 through the window glass of the virtual vehicle C2 corresponding to the specific window glass may be generated, and the generated image data may be displayed on the tablet terminal 51. Examples of window glass include the windshield, side windows, and rear windows. Figure 8 illustrates the case in which the tablet terminal 51 is placed on the outside surface of the windshield. The display screen of the tablet terminal 51 faces inward towards the vehicle interior. In this case, for example, the driving simulation device 1 may be further equipped with a communication unit 52. The communication unit 52 is a wireless communication unit that provides wireless communication functionality between the driving simulation device 1 and the tablet terminal 51. For example, short-range wireless communication can be used as the communication method of the communication unit 52. The driving simulation device 1 transmits image data of a virtual image 39 (an image of the front of the virtual vehicle C2) to the tablet terminal 51 via the communication unit 52. The tablet terminal 51 then displays the image indicated by the image data transmitted from the communication unit 52 on its display.

[0039] 1...Driving simulation device, 2...Operation input unit, 3...Image display unit, 4...Speaker, 5...Vibration device, 6...Steering wheel, 7...Accelerator pedal, 8...Brake pedal, 9...Clutch pedal, 10...Shift lever, 11...Operation switch, 12...Right electronic side mirror, 13...Left electronic side mirror, 14...Electronic rearview mirror, 15...Navigation display, 16...Meter display, 17...Mode switching unit, 18...Operation detection unit, 19...Calculation unit, 20...Steering operation detection unit, 21...Accelerator operation detection unit, 22...Brake operation detection unit, 23...Clutch operation detection unit, 24...Shift operation detection unit, 25...Electrical equipment 26...Component operation detection unit, 27...Processor, 28...Storage device, 29...Behavior calculation unit, 30...Training task calculation unit, 31...Screen effect calculation unit, 32...Score calculation unit, 33...Virtual space, 34...Virtual camera, 35...Virtual camera, 36...Virtual camera, 37...Virtual camera, 38...Virtual object, 39...Virtual image, 40...Virtual image, 41...Virtual image, 42...Virtual image, 43...Forward view drawing unit, 44...Right rear view drawing unit, 45...Left rear view drawing unit, 46...Center rear view drawing unit, 47...Light source, 48...Communication unit, 49...Server device, 50...Storage device, 51...Tablet terminal, 52...Communication unit, C1...Actual vehicle, C2...Virtual vehicle

Claims

1. A driving simulation method that calculates the behavior of a virtual vehicle in a virtual space when an operation is performed on a virtual vehicle based on an output signal from an operation detection unit that detects an operation performed on an operation input unit of a real vehicle, generates image data of a virtual image based on the calculated behavior, and displays the virtual image on an image display unit of the real vehicle based on the generated image data.

2. The driving simulation method according to claim 1, wherein the image data is generated as a virtual image obtained when the virtual space is photographed by a virtual camera mounted on the virtual vehicle, based on the behavior of the virtual vehicle.

3. The driving simulation method according to claim 1, wherein the operation input unit includes at least one of a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and an operation switch for an in-vehicle electrical component.

4. The driving simulation method according to claim 1, wherein the image display unit includes at least one of an electronic mirror, an in-vehicle infotainment display, an around-view monitor, a meter display, and a head-up display.

5. The driving simulation method according to claim 1, wherein the virtual space contains virtual objects for performing at least one of the following: training in parking, training in S-shaped turns, training in obstacle avoidance, training in developing a sense of vehicle width, and a tutorial on the driving assistance functions of the actual vehicle.

6. The driving simulation method according to claim 1, which has a training mode that prohibits changes in the steering angle, driving force and braking force of the actual vehicle's tires and the transmission range as a result of operations on the operation input unit, and when the training mode is on, the image display unit displays the virtual image.

7. The driving simulation method according to claim 6, wherein the training mode is switched on and off by a predetermined operation performed by the driver.

8. When the training mode is turned on, if one task is selected from a predetermined set of tasks, the virtual vehicle is placed in an initial position in the virtual space that is pre-associated with the selected task, a virtual object corresponding to the selected task is placed in the virtual space, and a virtual image obtained when the virtual space is photographed by a virtual camera mounted on the virtual vehicle is displayed on the image display unit, according to claim 7.

9. The driving simulation method according to claim 8, wherein the above problem is resolved when the virtual vehicle reaches a predetermined position in the virtual space.

10. The driving simulation method according to claim 9, wherein, upon completion of the task, the driver's skill is scored based on the driver's performance in completing the task, and the result of the skill score is displayed on the image display unit.

11. If there are other drivers who have scored the skills using other vehicles of the same type as the actual vehicle, the driving simulation method according to claim 10, wherein the ranking of the skill scoring results for the driver of the actual vehicle and the other drivers is displayed on the image display unit.

12. The driving simulation method according to claim 1, wherein a tablet terminal is placed near a specific window glass of the actual vehicle, and based on the calculated behavior of the virtual vehicle, image data of the virtual space as seen from inside the virtual vehicle through the window glass of the virtual vehicle corresponding to the specific window glass is generated, and the generated image data is displayed on the tablet terminal.

13. A driving simulation device comprising: an operation detection unit that detects operations performed on an operation input unit of an actual vehicle; a behavior calculation unit that calculates the behavior of a virtual vehicle in a virtual space when the operation is performed on the virtual vehicle based on the output signal of the operation detection unit; and a display control unit that generates image data of a virtual image based on the behavior calculated by the behavior calculation unit and displays the virtual image on an image display unit of the actual vehicle based on the generated image data.

14. A driving simulation program that causes a computer to function as a behavior calculation unit that calculates the behavior of a virtual vehicle in a virtual space when an operation is performed on a virtual vehicle in a virtual space, based on the output signal of an operation detection unit that detects an operation performed on an operation input unit of a real vehicle, and a display control unit that generates image data of a virtual image based on the behavior calculated by the behavior calculation unit, and displays the virtual image on an image display unit of the real vehicle based on the generated image data.

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