DE-112024002988-T5 - SIMULATION DEVICE, SIMULATION METHOD AND SIMULATION PROGRAM

Abstract

A simulation device (1) includes a polygon identification unit (S10) and a collision position correction unit. The polygon identification unit is configured to identify a target polygon among several polygons, the target polygon being a polygon with which a wave generated by simulation collides, each of the polygons having vertices, each of which is a point in a three-dimensional coordinate point cloud representing a three-dimensional shape of an object surface. The collision position correction unit is configured to calculate a collision point at which the wave collides, based on a target surface, the target surface being a surface calculated by performing surface interpolation on the plane of the target polygon.

Inventors

• Tomihiro Ikegami

Assignees

• DENSO CORPORATION

Dates

Publication Date

20260513

Application Date

20240705

Priority Date

20230714

Claims (4)

1. Simulation device (1) comprising: a polygon identification unit (S10) configured to identify a target polygon among several polygons, wherein the target polygon is a polygon with which a wave formed by simulation collides, each of the polygons having vertices, each of the vertices being a point of a three-dimensional coordinate point cloud representing a three-dimensional shape of an object surface; a collision position correction unit (S20 to S40) configured to calculate a collision point at which the wave collides based on a target surface, wherein the target surface is a surface calculated by performing surface interpolation on the plane of the target polygon.
2. Simulation device according to Claim 1 , wherein the collision position correction unit is configured to set control points on the plane of the target polygon, which is formed by connecting three or more vertices with straight lines; moves the control points such that a line extending from the vertex to the nearest control point is perpendicular to a vertex normal that is a normal vector at the vertex; and performs surface interpolation on the plane of the target polygon based on the moved control points.
3. A simulation method performed by a simulation device, comprising: Identifying a target polygon from among several polygons, wherein the target polygon is a polygon with which a wave formed by simulation collides, each of the polygons having vertices, each of which is a point of a three-dimensional coordinate point cloud representing a three-dimensional shape of an object surface; Computing a collision point at which the wave collides, based on a target surface, wherein the target surface is a surface calculated by performing surface interpolation on the plane of the target polygon.
4. A simulation program configured to cause a computer to function as: a polygon identification unit (S10) configured to identify a target polygon among several polygons, the target polygon being a polygon with which a simulation-generated wave collides, each of the polygons having vertices, each of which being a point in a three-dimensional coordinate point cloud representing a three-dimensional shape of an object surface; a collision position correction unit (S20 to S40) configured to calculate a collision point at which the wave collides, based on a target surface, the target surface being a surface calculated by performing surface interpolation on the plane of the target polygon.

Description

[REFERENCE TO RELATED REGISTRATION] This registration is based on the Japanese application no. 2023-116002 , filed on July 14, 2023, and claims priority therefrom. The entire contents of this application are hereby incorporated by reference. [TECHNICAL FIELD] The present invention relates to a simulation device, a simulation method and a simulation program for forming waves by simulation. [STATE OF THE ART] Patent document 1 describes a method for a computer graphics system for performing tessellation. Tessellation, or tiling, is a technique for further subdividing many polygons (e.g., triangular polygons) that are used to represent a three-dimensional object. [STATE OF THE ART DOCUMENTS] [PATENT DOCUMENTS] Patent document 1: JP 2017- 4 516 A [SUMMARY OF THE INVENTION] In recent years, the prevalence of advanced safety features in vehicles has increased. To improve the efficiency of the development process, performance testing using computer simulation is increasingly being used alongside testing with physical test vehicles. There is a need to improve the accuracy of performance testing using computer simulation. Advanced security features are implemented using external environmental sensing sensors to perceive the external environment. These sensors include both active and passive types. Examples of active sensors include radar, sonar, and LiDAR. Cameras are an example of passive sensors. Each of the active sensors emits radio waves, ultrasonic waves or light (electromagnetic waves) and detects external objects by receiving the reflected electromagnetic wave and generating electrical power (receiving power). The computer simulation mentioned above calculates the electrical power that is generated when the radio waves, ultrasound waves or light waves emitted by the sensor hit objects such as people, vehicles and roads in the vicinity of the vehicle. Especially when calculating the power generated by radio waves or ultrasound waves, it is important to accurately calculate not only the magnitude of the power, but also the phase (i.e., the time shift of the power wave). Regarding phase, for example, if two electromagnetic waves are received simultaneously, the power is amplified if they are in the same phase, and if they are in opposite phase, the power cancels each other out and disappears. The phase varies both at the moment of reflection from an object's surface and during the wave's propagation through space. To accurately reproduce these phase variations during wave propagation, the object's shape must be precisely represented. With millimeter-wave radars, whose wavelengths are on the order of several millimeters, even a 1 mm shift in the propagation path causes significant errors in reception. In computer simulations, the shape of an object is often represented by connected polygons. However, with curved objects, it is impossible to perfectly fit the polygons to the ideal shape. Upon detailed investigation by the inventors, it was found that the phase of the electromagnetic waves striking an object can differ in reality from that in the simulation, which can lead to significant errors in the calculation of the received power in the simulation. The invention improves the accuracy of reproduction in simulations. One embodiment of the present invention relates to a simulation device comprising a polygon identification unit and a collision position correction unit. The polygon identification unit is configured to identify a target polygon among several polygons. The target polygon is the polygon at which a wave generated by simulation collides. Each of the polygons has vertices. Each vertex is a point in a three-dimensional coordinate point cloud that represents the three-dimensional shape of an object's surface. The collision position correction unit is configured to calculate a collision point with which the wave collides, based on a target surface, where the target surface is a surface calculated by performing surface interpolation on the plane of the target polygon. According to the simulation device of the present invention, it is possible to improve the reproduction accuracy in simulations, since it can minimize the difference between the position at which the wave hits a real object and the position at which the wave hits the object reproduced in the simulation. Another aspect of the present invention relates to a simulation method performed by a simulation device. The simulation method comprises: identifying a target polygon from among several polygons, wherein the target polygon is a polygon with which a wave generated by simulation collides, each of the polygons having vertices, each of which being a point in a three-dimensional coordinate point cloud representing a three-dimensional shape of an object surface; and calculating a collision point at which the wave collides, based on a target surface, wherein the target surface is a surface calculated by performing surface interpolation on the plane o