US-12626542-B2 - Data processing apparatus and non-transitory recording medium

US12626542B2US 12626542 B2US12626542 B2US 12626542B2US-12626542-B2

Abstract

A data processing apparatus includes one or more processors, and one or more recording media including a program to be executed by the one or more processors stored therein. The program includes one or more commands that cause the one or more processors to execute: a simulation process of performing, based on driving operation data of a vehicle, a simulation of a vehicle behavior of the vehicle using vehicle models having different parameter settings; and a model identifying process of identifying one or more of the vehicle models that satisfy a predetermined similarity condition by evaluating a similarity of a vehicle behavior of each of the vehicle models to be obtained in the simulation process with a target vehicle behavior. Evaluating the similarity in the model identifying process is based on respective time waveforms of the vehicle behavior obtained in the simulation process and the target vehicle behavior.

Inventors

Takeru Shinohara
Hajime Oyama

Assignees

Subaru Corporation

Dates

Publication Date: 20260512
Application Date: 20240313

Claims (9)

1 . A data processing apparatus comprising: one or more processors; and one or more recording media comprising a program to be executed by the one or more processors stored therein, wherein the program comprises one or more commands, the one or more commands are configured to cause the one or more processors to execute: a simulation process of performing, based on driving operation data of a vehicle of interest, a simulation of a vehicle behavior of the vehicle of interest using a plurality of vehicle models of the vehicle of interest, each of the plurality of vehicle models being subjected to a parameter setting corresponding to a different vehicle setting of the vehicle of interest; and a model identifying process of, for each of the plurality of vehicle models, evaluating a similarity between a time waveform of the vehicle behavior obtained in the simulation process using a corresponding one of the plurality of vehicle models and a time waveform of a target vehicle behavior, the target vehicle behavior being a vehicle behavior of the vehicle of interest, and identifying, from among the plurality of vehicle models, one or more of the plurality of vehicle models that satisfy a predetermined similarity condition based on the evaluated similarity.
2 . The data processing apparatus according to claim 1 , wherein the vehicle setting includes at least one of: a suspension setting including a wheel alignment setting or a tire pressure setting; or an acceleration or deceleration related setting of an engine or a brake.
3 . The data processing apparatus according to claim 1 , wherein each of the plurality of vehicle models of the vehicle of interest is further subjected to a parameter setting corresponding to a traveling road surface state of the vehicle of interest estimated based on position data of the vehicle.
4 . The data processing apparatus according to claim 1 , wherein the evaluating of the similarity comprises calculating a degree of similarity by: calculating, using a cross-correlation function, correlation values for respective time waveforms of a yaw rate, a longitudinal acceleration, a lateral acceleration, a roll angle, and a pitch angle included in the vehicle behavior obtained in the simulation process and the target vehicle behavior; and summing the correlation values, and wherein the model identifying process is configured to identify the one or more of the plurality of vehicle models as the vehicle models for which the degree of similarity is greater than or equal to a predetermined threshold.
5 . A non-transitory recording medium readable by a computer apparatus, the non-transitory recording medium causing the computer apparatus to execute a method, the method comprising: simulating, based on driving operation data of a vehicle of interest, a vehicle behavior of the vehicle of interest using a plurality of vehicle models of the vehicle of interest, each of the plurality of vehicle models being subjected to a parameter setting corresponding to a different vehicle setting of the vehicle of interest; and for each of the plurality of vehicle models, evaluating a similarity between a time waveform of the vehicle behavior obtained in the simulating of the vehicle behavior using a corresponding one of the plurality of vehicle models and a time waveform of a target vehicle behavior, the target vehicle behavior being a vehicle behavior of the vehicle of interest, and identifying, from among the plurality of vehicle models, one or more of the plurality of vehicle models that satisfy a predetermined similarity condition based on the evaluated similarity.
6 . A data processing apparatus comprising: one or more processors; and one or more recording media comprising a program to be executed by the one or more processors stored therein, wherein the program comprises one or more commands, the one or more commands are configured to cause the one or more processors to execute: a simulation process of performing, based on driving operation data of a vehicle of interest, a simulation of a vehicle behavior of the vehicle of interest using a plurality of vehicle models of the vehicle of interest, each of the plurality of vehicle models being subjected to a parameter setting corresponding to a different vehicle setting of the vehicle of interest and to a parameter setting corresponding to a traveling road surface state of the vehicle of interest estimated based on position data of the vehicle of interest, and a model identifying process of, for each of the plurality of vehicle models, evaluating a similarity between a time waveform of the vehicle behavior obtained in the simulation process using a corresponding one of the plurality of vehicle models and a time waveform of a target vehicle behavior, the target vehicle behavior being a vehicle behavior of the vehicle of interest, and identifying, from among the plurality of vehicle models, one or more of the plurality of vehicle models that satisfy a predetermined similarity condition based on the evaluated similarity.
7 . The data processing apparatus according to claim 6 , wherein the vehicle setting includes at least one of: a suspension setting including a wheel alignment setting or a tire pressure setting; or an acceleration or deceleration related setting of an engine or a brake.
8 . The data processing apparatus according to claim 6 , wherein evaluating the similarity in the model identifying process comprises calculating a degree of similarity by: calculating, using a cross-correlation function, correlation values for respective time waveforms of a yaw rate, a longitudinal acceleration, a lateral acceleration, a roll angle, and a pitch angle included in the vehicle behavior obtained in the simulation process and in the target vehicle behavior; and summing the correlation values, and wherein the model identifying process is configured to identify the one or more of the plurality of vehicle models as the vehicle models for which the degree of similarity is greater than or equal to a predetermined threshold.
9 . A non-transitory recording medium readable by a computer apparatus, the non-transitory recording medium causing the computer apparatus to execute a method, the method comprising: simulating, based on driving operation data of a vehicle of interest, a vehicle behavior of the vehicle of interest using a plurality of vehicle models of the vehicle of interest, each of the plurality of vehicle models being subjected to a parameter setting corresponding to a different vehicle setting of the vehicle of interest and to a parameter setting corresponding to a traveling road surface state of the vehicle of interest estimated based on position data of the vehicle of interest; and for each of the plurality of vehicle models, evaluating a similarity between a time waveform of the vehicle behavior obtained in the simulating of the vehicle behavior using a corresponding one of the plurality of vehicle models and a time waveform of a target vehicle behavior, the target vehicle behavior being a vehicle behavior of the vehicle of interest, and identifying, from among the plurality of vehicle models, one or more of the plurality of vehicle models that satisfy a predetermined similarity condition based on the evaluated similarity.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is continuation of International Application No. PCT/JP2022/037009, filed on Oct. 3, 2022, the entire contents of which are hereby incorporated by reference. BACKGROUND The disclosure relates to a data processing apparatus and a non-transitory recording medium. For example, the disclosure relates to a technical field of simulating a vehicle behavior using a vehicle model. For a vehicle such as an automobile, there is a desire to customize settings related to motion performance based on a user's preference. For example, a user who has many opportunities to use a freeway may desire a setting that emphasizes straight line stability in a high-speed region and a smooth acceleration feeling, and a user who has many opportunities to travel on a winding road may desire a setting that has good response, an accelerator response, and convergence with respect to vibration. In these cases, examples of the setting may include suspension settings of wheel alignment, and acceleration/deceleration-related settings of an engine and a brake. Japanese Patent No. 6825634 discloses a technique of predicting an occurrence of a malfunction, that is, predicting a malfunction of a component included in a vehicle that may occur at a future time, based on a result of a simulation of a vehicle behavior resulting from traveling of a digital twin vehicle on a server in a traveling environment reproduced in a virtual space. SUMMARY An aspect of the disclosure provides a data processing apparatus. The data processing apparatus includes one or more processors and one or more recording media. The one or more recording media includes a program to be executed by the one or more processors stored therein. The program includes one or more commands. The one or more commands are configured to cause the one or more processors to execute: a simulation process of performing, based on driving operation data of a vehicle, a simulation of a vehicle behavior of the vehicle using vehicle models having different parameter settings; and a model identifying process of identifying one or more of the vehicle models that satisfy a predetermined similarity condition by evaluating a similarity of a vehicle behavior of each of the vehicle models to be obtained in the simulation process with a target vehicle behavior, the target vehicle behavior being a vehicle behavior of the vehicle of interest. Evaluating the similarity in the model identifying process is based on a time waveform of the vehicle behavior obtained in the simulation process and a time waveform of the target vehicle behavior. An aspect of the disclosure provides a non-transitory recording medium readable by a computer apparatus. The non-transitory recording medium causes the computer apparatus to execute a method. The method includes: simulating, based on driving operation data of a vehicle of interest, a vehicle behavior of the vehicle using vehicle models having different parameter settings; and identifying one or more of the vehicle models that satisfy a predetermined similarity condition by evaluating a similarity of a vehicle behavior of each of the vehicle models to be obtained in the simulating with a target vehicle behavior, the target vehicle behavior being a vehicle behavior of the vehicle of the interest. The evaluating the similarity is based on a time waveform of the vehicle behavior obtained in the simulating and a time waveform of the target vehicle behavior. An aspect of the disclosure provides a data processing apparatus. The data processing apparatus includes one or more processors and one or more recording media. The one or more recording media includes a program to be executed by the one or more processors stored therein. The program includes one or more commands. The one or more commands are configured to cause the one or more processors to execute: a simulation process of performing, based on driving operation data of a vehicle, a simulation of a vehicle behavior of the vehicle using vehicle models having different parameter settings; and a model identifying process of identifying one or more of the vehicle models that satisfy a predetermined similarity condition by evaluating a similarity of a vehicle behavior of each of the vehicle models to be obtained in the simulation process with a target vehicle behavior, the target vehicle behavior being a vehicle behavior of the vehicle of interest. The vehicle models to be used in the simulation process include vehicle models each subjected to a parameter setting corresponding to a traveling road surface state of the vehicle estimated based on position data of the vehicle. An aspect of the disclosure provides a non-transitory recording medium readable by a computer apparatus. The non-transitory recording medium causes the computer apparatus to execute a method. The method includes: simulating, based on driving operation data of a vehicle of interest, a vehicle behavior of the ve