WO2021054267A1 - Simulation system, simulation program, and simulation method - Google Patents

Abstract

The simulation system simulates the activity of a plurality of entities disposed in a three-dimensional virtual space configured by arranging a plurality of virtual spatial bodies that virtually define a three-dimensional space having a plane and a height with respect to the plane, wherein each spatial body comprises a plurality of layers in which entity information that identifies an entity is registered according to an attribute of the entity, and, in response to a request from one entity associated with entity information registered in a layer, the entity information of another entity associated with the entity information registered in the layer is provided to the one entity.

Description

Simulation system, simulation program and simulation method

The present invention is a simulation system, a simulation program and a simulation method, in particular, a three-dimensional virtual body composed of a plane and a plurality of virtual space bodies that virtually partition a three-dimensional space having a height with respect to the plane. The present invention relates to a simulation system, a simulation program, and a simulation method for simulating the activities of a plurality of entities arranged in space.

For example, a technology that analyzes and evaluates the entity that is the object by simulation based on various simulation models such as the behavior of the military in military operations and the driving situation of autonomous vehicles in the driving environment of the vehicle. Has been proposed.

In Patent Document 1, in a simulation system that determines collision of moving entities, the movable range of the entities is obtained from the simulation result, and the entities that may collide are extracted from the overlap of the obtained movable ranges, and the entities are separated from each other. It is disclosed that the approach distance of is calculated to determine the collision between entities.

Japanese Unexamined Patent Publication No. 2009-25159

By the way, in this kind of simulation system, it is simulated to evaluate the influence of the activity of one entity on the activity of another entity (mostly, it is assumed that the entity exists in the vicinity of the certain entity). Is the main purpose of.

In this case, since these entities move by adjusting the movement distance and movement time based on the processing of information performed between one entity and another entity, the processing amount and processing time of information between the entities. Is increased, the simulation system is overloaded, and there is a concern that the simulation capability may be reduced.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a simulation system, a simulation program, and a simulation method that do not cause a decrease in simulation ability.

The simulation system according to the present invention for achieving the above problems is a three-dimensional structure formed by arranging a plane and a plurality of virtual space bodies that virtually partition a three-dimensional space having a height with respect to the plane. It is a simulation system that simulates the activities of multiple entities placed in a virtual space, and each virtual space body has multiple layers in which entity information that identifies an entity is registered according to the attributes of the entity. It provides one entity with the entity information of another entity associated with the entity information registered in the layer in response to the request of one entity associated with the registered entity information.

According to this, since the virtual space body provides the entity information of another entity to one entity in response to the request of one entity, the simulation can be performed without processing the information between the entities. Will be executed.

Therefore, since the amount of information processed and the processing time between entities do not increase, a simulation system that does not cause a decrease in simulation capability is realized.

Each virtual space body of this simulation system provides one entity with entity information of another entity placed at an arbitrary position in the three-dimensional virtual space specified by one entity.

Each virtual space body of this simulation system is arranged in an arbitrary range of the three-dimensional virtual space specified by one entity from the reference position with an arbitrary position of the virtual space body in which one entity is placed as a reference position. It provides entity information of other entities to one entity.

Further, each virtual space body of the simulation system provides the entity information of another entity to one entity before the one entity moves when the other entity is placed on the path in which the one entity moves. It is a thing.

In this simulation system, a virtual space body is placed outside the three-dimensional virtual space, and the entity information of the entity placed outside the three-dimensional virtual space is registered in this virtual space body.

In this simulation system, multiple time increments that are evaluated as the next time in discrete time are set as tags, and the startup time when each entity placed in the three-dimensional virtual space starts activity is used as the tag. A three-dimensional virtual space consisting of multiple time wheels that are associated and registered as events, with a layered time wheel that hides each time wheel and each entity associated with the event registered in the layered time wheel. It is provided with application software that generates the information.

Further, in the simulation system, any entity among the entities may be an autonomous driving vehicle, and the activity of the autonomous driving vehicle may be simulated.

The simulation program according to the present invention for achieving the above problems is a three-dimensional structure composed of a plane and a plurality of virtual space bodies that virtually partition a three-dimensional space having a height with respect to the plane. A simulation program that simulates the activities of multiple entities placed in a virtual space, and each virtual space body has multiple layers in which entity information that identifies an entity is registered according to the attributes of the entity. It provides one entity with the entity information of another entity associated with the entity information registered in the layer in response to the request of one entity associated with the registered entity information.

The simulation method according to the present invention for achieving the above problems is a three-dimensional structure composed of a plane and a plurality of virtual space bodies that virtually partition a three-dimensional space having a height with respect to the plane. A simulation method that simulates the activities of multiple entities placed in a virtual space, and each virtual space body with multiple layers in which entity information that identifies an entity is registered according to the attributes of the entity is registered in the layer. It provides the entity information of another entity associated with the entity information registered in the layer in response to the request of one entity associated with the associated entity information to the one entity.

According to the present invention, a simulation system, a simulation program, and a simulation method that do not cause a decrease in simulation ability are realized.

It is a figure explaining the outline of the simulation system which concerns on embodiment of this invention. Similarly, it is a figure explaining the outline of the structure of the computer of the simulation system which concerns on this embodiment. Similarly, it is a block diagram explaining the outline of the structure of the layered time wheel stored in the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the configuration of the plurality of time wheels constituting the layered time wheel stored in the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the operation outline of the layered time wheel stored in the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the storage structure of the computer of the simulation system which concerns on this embodiment. Similarly, it is a block diagram explaining the outline of the structure of the scenario data in the storage of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the structure of the three-dimensional virtual space developed by the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the structure of the virtual space body which constitutes the three-dimensional virtual space developed by the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the processing in the virtual space body which constitutes the three-dimensional virtual space developed by the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the processing in the virtual space body which constitutes the three-dimensional virtual space developed by the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the processing in the virtual space body which constitutes the three-dimensional virtual space developed by the memory of the computer of the simulation system which concerns on this embodiment. Similarly, it is a figure explaining the outline of the case where the virtual space body is arranged outside the three-dimensional virtual space developed by the memory of the computer of the simulation system which concerns on this embodiment. It is a block diagram explaining the outline of the simulation system which concerns on other embodiment of this invention.

Next, the simulation system according to the embodiment of the present invention will be described with reference to FIGS. 1 to 13.

FIG. 1 is a diagram illustrating an outline of a simulation system according to the present embodiment. As shown in the figure, the simulation system 1 is composed of a computer 10 that generates a simulation model 100 realized in a three-dimensional virtual space described later.

In the present embodiment, the simulation model 100 evaluates an autonomous driving vehicle, and the activity of an evaluation vehicle or other vehicle, or an entity such as a bicycle or a pedestrian, which is an object to be evaluated, is an event. It is registered and the registered event is triggered.

The computer 10 evaluates an object based on the simulation model 100 generated by the operation of the user U. In the present embodiment, the computer 10 functions as a server, a desktop computer, a notebook computer, and a smartphone. Alternatively, it is implemented by various computers such as tablet computers.

FIG. 2 is a block diagram illustrating an outline of the configuration of the calculator 10. As shown in the figure, the computer 10 includes a processor 11, a memory 12, a storage 13, a transmission / reception unit 14, and an input / output unit 15 as main configurations, and these are electrically connected to each other via a bus 16.

The processor 11 is an arithmetic unit that controls the operation of the computer 10, controls the transmission and reception of data between each element, and performs processing necessary for executing a program.

In the present embodiment, the processor 11 is, for example, a CPU (Central Processing Unit), and executes each process by executing a program stored in the storage 13 and expanded in the memory 12 which will be described later.

The memory 12 includes a main storage device composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary storage device composed of a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). ..

While this memory 12 is used as a work area of the processor 11, the BIOS (Basic Input / Output System) executed when the computer 10 is started, various setting information, and the like are stored.

In the present embodiment, when the layered time wheel described later is generated, the time wheel constituting the layered time wheel is registered as a dictionary and the layered time wheel is stored.

The storage 13 stores information such as programs and information used for various processes. The configuration of the storage 13 will be described later.

The transmission / reception unit 14 connects the computer 10 to a network such as an Internet network, and may be provided with a short-range communication interface such as Bluetooth (registered trademark) or BLE (Bluetooth Low Energy).

The input / output unit 15 is an interface to which input / output devices are connected, and examples of these input / output devices are assumed to be a keyboard, a mouse, and a display.

The bus 16 transmits, for example, an address signal, a data signal, and various control signals between the connected processor 11, the memory 12, the storage 13, the transmission / reception unit 14, and the input / output unit 15.

FIG. 3 is a diagram illustrating an outline of the configuration of the layered time wheel 21 registered and stored as a dictionary in the memory 12. As shown in the figure, the layered time wheel 21 is composed of a plurality of time wheels corresponding to a plurality of time layers having different time units, and in the present embodiment, "day" and "day" are set according to the simulation model 100. It is composed of time wheels 22 to 26 corresponding to the time hierarchy of "hours", "minutes", "seconds" and "milliseconds".

FIG. 4 is a diagram illustrating an outline of the configuration of each time wheel 22 to 26 constituting the layered time wheel 21. As shown in the figure, each time wheel 22 to 26 has a time step width evaluated as the next time in the discrete time set as a tag T, and this tag T is the maximum number of time differences in event processing. It is a timetable type storage area arranged in a ring shape.

Events are registered in association with the tags T of each of the time wheels 22 to 26, and the avail A1 which is the first designated position to the nth designated position indicating the current time, which is preset in each of the time wheels 22 to 26. When ~ A5 matches the activation time of the event associated with the tag T, the event is activated.

Since each of the time wheels 22 to 26 is hidden by the layered time wheel 21 from a program that illegally invades the memory 12, it is prevented from being detected and modified by this program.

Further, since each of the time wheels 22 to 26 makes the user U who operates the computer 10 invisible by the layered time wheel 21, the user U uses the layered time wheel 21 when generating the layered time wheel 21. It is not necessary to set each of the constituent time wheels 22 to 26. Therefore, the simulation can be easily executed.

FIG. 5 is a diagram illustrating an outline of operation of the layered time wheel 21. As shown in the figure, when the time wheels 23 to 25 corresponding to the time hierarchy of "hours", "minutes" and "seconds" are configured, for example, the time wheel 24 is set as the first time wheel.

In this case, if the time wheel 25 corresponding to the time hierarchy of "seconds", which is a lower time hierarchy with respect to the time wheel 24, is set as the nth time wheel, the tag T of the starting point where the avail A4 of the time wheel 25 is located is used. When the event progresses to the end point tag T, the avail A3 of the time wheel 24, which is the first time wheel, progresses from the current tag T to the next tag T.

When the event progresses from the current tag T to the next tag T on the avail A3 of the time wheel 24, in the present embodiment, the time corresponding to the time hierarchy of "hour" which is the upper time hierarchy with respect to the time wheel 24. The event registered in the wheel 23 is activated.

When simulating using the time wheel with the above configuration, the arithmetic processing is executed by skipping the tags that are not registered with the events associated with it, so the processing in the simulation can be processed at high speed. ..

FIG. 6 is a block diagram illustrating an outline of the configuration of the storage 13. As shown in the figure, the storage 13 includes a scenario data 30, a simulation program 40, and a three-dimensional display processing program 50 stored in the storage area of the storage 13.

FIG. 7 is a block diagram illustrating an outline of the configuration of the scenario data 30. As shown in the figure, the scenario data 30 is composed of spatial data D1, event data D2, and entity data D3.

Spatial data D1 is data that generates a three-dimensional virtual space in which the simulation model 100 is realized in the present embodiment.

The event data D2 is data that generates an event that is activated in the simulation model 100, such as running an emergency vehicle, changing a signal, or walking a pedestrian.

In the present embodiment, the entity data D3 is data that generates a moving entity such as an autonomous driving vehicle or another vehicle, a bicycle or a pedestrian, or a structural entity such as a road surface or a traffic light. is there.

As shown in FIG. 6, the simulation program 40 includes a time wheel generation module 41, a space generation module 42, and an event registration module 43.

In the present embodiment, the time wheel generation module 41 is a module that generates arbitrary time wheels 22 to 26 required according to the simulation model 100 as a layered time wheel 21.

In the present embodiment, the space generation module 42 is a module that generates a three-dimensional virtual space in which the simulation model 100 is realized.

FIG. 8 is a diagram for explaining the outline of the configuration of the three-dimensional virtual space. As shown in the figure, the three-dimensional virtual space 60 is configured by arranging a plurality of virtual space bodies 61.

In the present embodiment, the virtual space body 61 is a cube shape that virtually partitions a three-dimensional space having a plane composed of x-coordinates and y-coordinates and a height consisting of h-coordinates with respect to this plane. It is expanded in the memory 12 of.

FIG. 9 is a diagram illustrating an outline of the configuration of the virtual space body 61. As shown in the figure, the virtual space body 61 includes a plurality of layers 61a to 61n. In these layers 61a to 61n, in the present embodiment, entity information for identifying an entity such as an entity name (type) and color is registered according to the attribute of the entity.

In the present embodiment, for example, the entity information of the entity having the attribute of "object" that appears in the simulation model 100 is registered in the layer 61a. As the entity having the attribute of "object", for example, an autonomous driving vehicle or another vehicle, a bicycle, a pedestrian, or the like, which is an object, is assumed.

In the layer 61b, in the present embodiment, the entity information of the entity having the attribute of "obstacle" that appears in the simulation model 100 is registered. As an entity having the attribute of "obstacle", for example, a building, topography, construction status, etc. are assumed.

In the layer 61c, in the present embodiment, the entity information of the entity having the attribute of "road" that appears in the simulation model 100 is registered. As an entity having the attribute of "road", for example, a road network composed of roads and intersections on which an object such as an autonomous driving vehicle or another vehicle travels is assumed.

On the other hand, in the layer 61d, in the present embodiment, the entity information of the entity having the attribute of "signal" that appears in the simulation model 100 is registered. A traffic light is assumed as an entity having the attribute of "signal".

In the present embodiment, such a virtual space body 61 is associated with the entity information registered in the layers 61a to 61n in response to a request of one entity associated with the entity information registered in the layers 61a to 61n. Provide entity information of other entities to one entity.

As shown in FIG. 10, the virtual space body 61 is arranged at an arbitrary position in the three-dimensional virtual space 60 designated by one entity E1 (for example, an autonomous driving vehicle which is an object) arranged in the virtual space body 61. The entity information of another entity E2 (for example, another vehicle) to be generated is provided to one entity E1.

Specifically, one entity E1 causes the x-coordinate, y-coordinate and h-coordinate of the three-dimensional virtual space 60 (for example, x: 8, y:) via the x-coordinate, y-coordinate and h-coordinate on the virtual space body 61. 3, h: 6) is specified, and when an arbitrary layer (for example, layer 61a in which the entity information of the entity having the attribute of "object" is registered) is specified from the layers 61a to 61n, the virtual space body 61 is specified. Provides entity information of another entity E2 arranged on the layer 61a at a designated position (x: 8, y: 3, h: 6) to one entity E1.

On the other hand, as shown in FIG. 11, the virtual space body 61 is designated by one entity E1 from this reference position S, with an arbitrary position of the virtual space body 61 in which one entity E1 is arranged as a reference position S. The entity information of another entity E2 arranged in an arbitrary range of the three-dimensional virtual space 60 is provided to one entity E1.

Specifically, one entity E1 specifies an arbitrary range by projecting a fan-shaped search sensor P from the reference position S in the virtual space body 61 in which the one entity E1 is arranged, and the virtual space body 61 An arbitrary range of the three-dimensional virtual space 60 is specified via an arbitrary range specified by.

In the present embodiment, the virtual space body 61 provides the entity information of another entity E2 on which the search sensor P is projected and arranged in the designated range to one entity E1.

The search sensor P projected on the virtual space body 61 is not limited to a fan shape, and various shapes or shapes such as a rectangle, an ellipse, or a cube are adopted.

As shown in FIG. 12, in the virtual space body 61, when another entity E2 is arranged on the path where one entity E1 moves, the one entity E1 moves the entity information of the other entity E2. Provided to one entity E1 before.

Specifically, when the course of movement of one entity E1 is, for example, the N direction indicated by the arrow line N, one entity E1 moves the entity information of another entity E2 arranged in the N direction. Provided to one entity E1 before.

As a result, one entity E1 can detect another entity E2 before moving in the N direction, and thus is indicated by directions other than the N direction (for example, arrow lines E, NE, W, and NW, respectively). By moving in the E direction, the NE direction, the W direction, and the NW direction), it is possible to avoid a collision with another entity E2.

FIG. 13 is a diagram illustrating an outline when the virtual space body 61 is arranged outside the three-dimensional virtual space 60. As shown in the figure, a single virtual space body 61 is further arranged outside the three-dimensional virtual space 60.

In this virtual space body 61, entity information of an entity that is active outside the activity range of the entity assumed in the simulation model 100 is registered in a plurality of layers 61a to 61n according to the attribute of the entity.

In the present embodiment, in the simulation model 100 that evaluates the autonomous driving vehicle, for example, when processing another vehicle that is close to the area where the activity range is defined from a distant area as an entity, the entity is processed. The entity information is registered in the virtual space body 61 arranged outside the three-dimensional virtual space 60.

As a result, the activity of the entity that is active outside the activity range can be simulated without expanding the activity range in which the entity is active in the simulation model 100. Therefore, the resources of the computer 10 are consumed due to the expansion of the activity range. A decrease in the processing capacity of the simulation system 1 is avoided.

As shown in FIG. 6, in the present embodiment, the event registration module 43 associates an event with an arbitrary tag T of any time wheel 22 to 26 of the layered time wheel 21 generated by the time wheel generation module 41. It is a module to be registered.

For the events registered in the arbitrary time wheels 22 to 26, the time difference of the event processing is stored as the start time, and when the start time of the event extends over a plurality of time hierarchies with different time units, the layered time The event is registered over all or any of the plurality of time wheels 22 to 26 of the wheel 21.

The three-dimensional display processing program 50 is a program that processes the simulation model 100 so as to display it in three dimensions on a display connected to the computer 10.

Next, the procedure for using the simulation system 1 of the present embodiment will be described.

In the present embodiment, first, the simulation model 100 and the layered time wheel 21 generated in response to the event activated by the simulation model 100 are registered as dictionaries in the memory 12 for each time wheel 22 to 26, and layered. The time wheel 21 is generated.

For example, when the event activation time spans the "hour" time hierarchy, the "minute" time hierarchy, and the "second" time hierarchy, the time wheels 23 to 25 are registered and stored as dictionaries, and the time wheel 23 is stored. The layered time wheel 21 is generated by ~ 25.

Next, in the memory 12, a plurality of virtual space bodies 61 are generated and arranged according to the simulation model 100 to form a three-dimensional virtual space 60.

Subsequently, the event is registered. In the present embodiment, the registered event is, for example, an evaluation vehicle which is an entity generated based on the entity data D3, another vehicle such as an emergency vehicle or a bicycle which is also an entity, and the like in the three-dimensional virtual space 60. The time and position of appearance are registered as an event.

On the other hand, the entity information of the entity registered as an event is registered in a plurality of layers 61a to 61n of each virtual space body 61 constituting the three-dimensional virtual space 60 according to the attribute of the entity.

Next, a simulation is executed based on the simulation model 100, and the automatic driving of the evaluation vehicle is evaluated based on the simulation related to the automatic driving of the evaluation vehicle. At this time, in the present embodiment, the simulation model 100 is displayed three-dimensionally on the display connected to the computer 10.

In the simulation executed by the simulation system 1 of the present embodiment, the virtual space body 61 provides the entity information of another entity to one entity in response to the request of one entity.

For example, one entity E1 specifies a position on the virtual space 61 and any layer of layers 61a to 61n, or an arbitrary range is specified by projecting the search sensor P from the reference position S. Then, the virtual space body 61 provides the entity information of another entity E2 arranged in an arbitrary layer at the designated position to one entity E1.

Further, when another entity E2 is placed on the path where one entity E1 moves, the virtual space body 61 transfers the entity information of the other entity E2 to one entity before the one entity E1 moves. Provide to E1.

On the other hand, in the present embodiment, a single virtual space body 61 is further arranged outside the three-dimensional virtual space 60, and the entity information of the entity that operates outside the activity range of the entity assumed in the simulation model 100 is registered. Then, the simulation model 100 can simulate the activity of the entity that is active outside the activity range in which the entity is active.

As described above, according to the simulation system 1 of the present embodiment, since the virtual space body 61 provides the entity information of another entity to one entity in response to the request of one entity, it is between the entities. The simulation is executed without processing the information in.

Therefore, since the amount of information processed and the processing time between entities do not increase, the simulation system 1 that does not cause a decrease in simulation ability is realized.

(Other embodiments)
Next, the simulation system 2 according to another embodiment of the present invention will be described with reference to FIG.

In the simulation system 2, the same reference numerals are given to the same configurations as those in the simulation system 1, and the description thereof will be omitted.

As shown in the figure, the simulation system 2 generates a computer 10, a layered time wheel 21 executed on the computer 10, a layered time wheel 21, and a simulation program 40 that registers an event in the generated layered time wheel 21. , And a hierarchical model with application software 70 that creates entities on the layered time wheel 21.

In this simulation system 2, the layered time wheel 21 can be used as the OS (Operating System) of the computer 10 that simulates the simulation model.

On the other hand, in the simulation system 2, the environment for developing the application software 70 that generates the entity registered as an event on the layered time wheel 21 is provided by, for example, API (Application Programming Interface), or the source of the application software 70. Provided by publishing the code.

In the present embodiment, the application software 70 includes a virtual space body 61, a three-dimensional virtual space 60 in which a plurality of the virtual space bodies 61 are arranged, and an entity included in the simulation model arranged in the three-dimensional virtual space 60. It is what you generate.

The application software 70 includes space generation application software that generates a virtual space body 61 and a three-dimensional virtual space 60. For example, in the case of the simulation model 100, a moving body that generates a moving body such as an automatically driving vehicle or another vehicle. Generation application software, structure generation application software that generates structures such as a road surface or terrain on which an automatically driven vehicle or the like travels are assumed.

Further, application software related to the utility of the entity, such as direction control application software that controls the traveling direction of the moving object and display control application software that controls the display of the simulation model 100 on the display, is also assumed.

The simulation program 40 can also be configured to be implemented by the application software 70.

As described above, according to the simulation system 2 of the present embodiment, each of the time wheels 22 to 26 constituting the layered time wheel 21 is hidden by the layered time wheel 21 and executed on the computer 10. It is prevented that the layered time wheel 21 is modified by being detected by a program that illegally invades the memory 12.

On the other hand, since each of the time wheels 22 to 26 is made invisible to the developer developing the application software 70 by the layered time wheel 21, the developer develops the application software 70 with the layered time wheel 21. It is not necessary to set each of the time wheels 22 to 26 constituting the above, and the development of the application software 70 can be easily executed.

Therefore, in a safe environment in which the layered time wheel 21 is not modified by the program that invades the memory 12, the simulation model is used while using the application software 70 generated without being aware of each time wheel 22 to 26. Since the layered time wheel 21 can be flexibly constructed accordingly, a versatile simulation system 2 is realized.

The present invention is not limited to the above-described embodiment and the above-mentioned other embodiments, and various modifications can be made without departing from the spirit of the invention.

In the above embodiment, the case where the other entity E2 is another vehicle for the autonomous driving vehicle to be evaluated as one entity E1 has been described, but for example, a pedestrian, a bicycle, a traffic light, a building, a road network, or the like. It may be various entities such as.

In the above embodiment, the case where the simulation model 100 is the evaluation of the automatically driven vehicle has been described, but the evaluation of the flight path of the drone, the control of the flight space of the aircraft, the operation evaluation of the railway transportation network and the bus transportation network, and the evaluation of the military It can be used for various evaluations such as behavior evaluation, analysis of radio wave communication between radio wave transmission sources, search for interference transmission sources, and distribution analysis inside and outside the factory.

1, 2 Simulation system 10 Computer 21 Hierarchical time wheel 22-26 Time wheel 30 Scenario data 40 Simulation program 41 Time wheel generation module 42 Space generation module 60 Three-dimensional virtual space 61 Virtual space body 61a-61n Layer 70 Application software E1 1 Entity E2 Other Entity P Search Sensor U User

Claims (9)

1. Simulation that simulates the activities of a plurality of entities arranged in a three-dimensional virtual space composed by arranging a plane and a plurality of virtual space bodies that virtually partition a three-dimensional space having a height relative to the plane. It's a system
   Each virtual space body is
   It has a plurality of layers in which entity information that identifies the entity is registered according to the attributes of the entity.
   In response to a request of one said entity associated with the entity information registered in the layer, the entity information of another said entity associated with the entity information registered in the layer is provided to the one said entity.
   Simulation system.
2. Each virtual space body is
   To provide one said entity with said entity information of another said entity located at an arbitrary position in the three-dimensional virtual space specified by one said entity.
   The simulation system according to claim 1.
3. Each virtual space body is
   With an arbitrary position of the virtual space body in which one said entity is arranged as a reference position, the other said entity arranged in an arbitrary range of the three-dimensional virtual space designated by one said entity from the reference position. Providing said entity information to one said entity,
   The simulation system according to claim 1.
4. Each virtual space body is
   When another said entity is placed on the path to which the one said entity moves, the entity information of the other said entity is provided to the one said entity before the one said entity moves.
   The simulation system according to any one of claims 1 to 3.
5. The virtual space body is arranged outside the three-dimensional virtual space,
   The entity information of the entity arranged outside the three-dimensional virtual space is registered in the virtual space body.
   The simulation system according to any one of claims 1 to 4.
6. A plurality of time step widths evaluated as the next time in the discrete time are set as tags, and the start time at which each entity placed in the three-dimensional virtual space starts its activity is associated with the tag. A layered time wheel that is composed of multiple time wheels registered as events and hides each time wheel.
   Application software that generates the three-dimensional virtual space in which each entity associated with the event registered in the layered time wheel is arranged, and
   The simulation system according to any one of claims 1 to 5.
7. Any of the entities is an autonomous vehicle.
   Simulate the activity of the self-driving vehicle,
   The simulation system according to any one of claims 1 to 6.
8. Simulation that simulates the activities of a plurality of entities arranged in a three-dimensional virtual space formed by arranging a plane and a plurality of virtual space bodies that virtually partition a three-dimensional space having a height relative to the plane. It ’s a program
   Each virtual space body is
   It has a plurality of layers in which entity information that identifies the entity is registered according to the attributes of the entity.
   In response to a request of one said entity associated with the entity information registered in the layer, the entity information of another said entity associated with the entity information registered in the layer is provided to the one said entity.
   Simulation program.
9. Simulation that simulates the activities of a plurality of entities arranged in a three-dimensional virtual space formed by arranging a plane and a plurality of virtual space bodies that virtually partition a three-dimensional space having a height relative to the plane. It ’s a method,
   Each virtual space body having a plurality of layers in which entity information identifying the entity is registered according to the attributes of the entity responds to a request of one said entity associated with the entity information registered in the layer. To provide the entity information of another entity associated with the entity information registered in the layer to one entity.
   Simulation method.

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