公开(公告)号：US20070156327A1

公开(公告)日：2007-07-05

申请号：US11322527

申请日：2005-12-30

申请人： Michael Tipping ,  Mark Hatton ,  Ralf Herbrich

发明人： Michael Tipping ,  Mark Hatton ,  Ralf Herbrich

IPC分类号： G01C21/00

CPC分类号： A63F13/573 ,  A63F13/10 ,  A63F13/803 ,  A63F2300/63 ,  A63F2300/64 ,  A63F2300/646 ,  A63F2300/8017 ,  G01C21/00

摘要： An automatic agorithm for finding racing lines via computerized minimization of a measure of the curvature of a racing line is derived. Maximum sustainable speed of a car on a track is shown to be inversely proportional to the curvature of the line it is attempting to follow. Low curvature allows for higher speed given that a car has some maximum lateral traction when cornering. The racing line can also be constrained, or “pinned,” at arbitrary points on the track. Pinning may be randomly, deterministically, or manually and allows, for example, a line designer to pin the line at any chosen points on the track, such that when the automatic algorithm is run, it will produce the smoothest line that still passes through all the specified pins.

摘要翻译： 导出通过计算机化最小化赛车线的曲率的度量来找到赛车线的自动算法。 轨道上汽车的最大可持续速度显示为与其试图跟随的线的曲率成反比。 由于在转弯时汽车具有一定的最大横向牵引力，所以低曲率允许更高的速度。 赛道也可以在轨道上的任意点受到限制或“固定”。 固定可以是随机的，确定的或手动的，并且允许例如线设计者在轨道上的任何选定点处固定线，使得当运行自动算法时，它将产生仍然通过所有的最平滑的线 指定的引脚。

公开(公告)号：US07525546B2

公开(公告)日：2009-04-28

申请号：US12028012

申请日：2008-02-08

申请人： Ralf Herbrich ,  Mark Hatton ,  Michael E Tipping

发明人： Ralf Herbrich ,  Mark Hatton ,  Michael E Tipping

IPC分类号： G06T15/70 ,  A63F9/14

CPC分类号： A63F13/573 ,  A63F13/10 ,  A63F13/803 ,  A63F2300/6027 ,  A63F2300/646 ,  A63F2300/8017

摘要： Improved human-like realism of computer opponents in racing or motion-related games is provided by using a mixture model to determine a dynamically prescribed racing line that the AI driver is to follow for a given segment of the race track. This dynamically prescribed racing line may vary from segment to segment and lap to lap, roughly following an ideal line with some variation. As such, the AI driver does not appear to statically follow the ideal line perfectly throughout the race. Instead, within each segment of the course, the AI driver's path may smoothly follow a probabilistically-determined racing line defined relative to at least one prescribed racing line.

摘要翻译： 通过使用混合模型来确定AI驱动程序对于赛道的给定段落要遵循的动态规定的赛车线，提供了赛车或运动相关游戏中的计算机对手的人性化现实主义。 这个动态规定的赛车线可能会有所不同，分段和分段，搭搭到搭乘，大致跟随一个理想的线条，有一些变化。 因此，AI驱动程序在整个比赛中都不会完美地跟随理想线条。 相反，在本课程的每个部分中，AI驾驶员的路径可以顺利地遵循相对于至少一个规定赛车线定义的概率确定的赛车线。

公开(公告)号：US20080129874A1

公开(公告)日：2008-06-05

申请号：US12028012

申请日：2008-02-08

申请人： Ralf Herbrich ,  Mark Hatton ,  Michael E. Tipping

发明人： Ralf Herbrich ,  Mark Hatton ,  Michael E. Tipping

IPC分类号： H04N5/14

CPC分类号： A63F13/573 ,  A63F13/10 ,  A63F13/803 ,  A63F2300/6027 ,  A63F2300/646 ,  A63F2300/8017

摘要： Improved human-like realism of computer opponents in racing or motion-related games is provided by using a mixture model to determine a dynamically prescribed racing line that the AI driver is to follow for a given segment of the race track. This dynamically prescribed racing line may vary from segment to segment and lap to lap, roughly following an ideal line with some variation. As such, the AI driver does not appear to statically follow the ideal line perfectly throughout the race. Instead, within each segment of the course, the AI driver's path may smoothly follow a probabilistically-determined racing line defined relative to at least one prescribed racing line.

摘要翻译： 通过使用混合模型来确定AI驱动程序对于赛道的给定段落要遵循的动态规定的赛车线，提供了赛车或运动相关游戏中的计算机对手的人性化现实主义。 这个动态规定的赛车线可能会有所不同，分段和分段，搭搭到搭乘，大致跟随一个理想的线条，有一些变化。 因此，AI驱动程序在整个比赛中都不会完美地跟随理想线条。 相反，在本课程的每个部分中，AI驾驶员的路径可以顺利地遵循相对于至少一个规定赛车线定义的概率确定的赛车线。

公开(公告)号：US07246103B2

公开(公告)日：2007-07-17

申请号：US10609703

申请日：2003-06-30

申请人： Ralf Herbrich ,  Michael E. Tipping ,  Mark Hatton

发明人： Ralf Herbrich ,  Michael E. Tipping ,  Mark Hatton

IPC分类号： G06F15/00 ,  G06F15/18

CPC分类号： A63F13/67 ,  A63F13/10 ,  A63F13/58 ,  A63F13/803 ,  A63F2300/6027 ,  A63F2300/65 ,  A63F2300/8017 ,  G06N3/006

摘要： Improved human-like realism of computer opponents in racing or motion-related games is provided. The computer driver may be “distracted” by various characteristics, such as nervousness caused by another competitor closing the gap behind a computer driver. The distraction effects may be reflected in the alteration of stimuli to represent the computer driver “missing” stimuli, as though the AI competitor has taken its virtual eyes away from the course in front of its vehicle for an extended time period in order to watch the racing vehicle behind it. In addition, some distractions may be caused by different directional stimuli. When it is determined that an AI driver has glanced into the rear view mirror, visual stimuli from in front of the vehicle may be skipped because a human driver would not be able to simultaneously process visual stimuli from both the front of the vehicle and the rear view mirror.

摘要翻译： 提供了赛车或运动相关游戏中电脑对手的人性化现实主义。 计算机驱动程序可能被各种特征“分心”，例如由另一个竞争对手引起的紧张关闭计算机驱动程序后面的差距。 分心效应可能反映在刺激的变化中，以代表计算机驱动程序“丢失”的刺激，就好像AI竞争对手已经将其虚拟的眼睛从其车辆前方的路线延长了一段时间，以便观察 赛车背后。 另外，有些分心可能是由不同的方向刺激引起的。 当确定AI驾驶员已经看到后视镜时，可以跳过来自车辆前方的视觉刺激，因为人类驾驶员将不能同时处理来自车辆前方和后方的视觉刺激 查看镜像。

公开(公告)号：US07090576B2

公开(公告)日：2006-08-15

申请号：US10609507

申请日：2003-06-30

申请人： Ralf Herbrich ,  Michael E. Tipping ,  Mark Hatton

发明人： Ralf Herbrich ,  Michael E. Tipping ,  Mark Hatton

IPC分类号： A63F13/00

CPC分类号： A63F13/56 ,  A63F13/12 ,  A63F13/67 ,  A63F13/803 ,  A63F2300/50 ,  A63F2300/5546 ,  A63F2300/6027 ,  A63F2300/8082

摘要： Racing-based computer games typically include a mode in which one or more human players can compete against one or more computer-controlled opponents. For example, a human player may drive a virtual race car against a computer-controlled virtual race car purported to be driven by Mario Andretti or some other race car driver. Such computer controlled opponents may be enhanced by including a sampling of actual game behavior of a human subject into the opponent's artificial intelligence control system. Such a sampling can allow the game system to personalize the behavior of the computer control opponent to emulate the human subject.

摘要翻译： 基于赛车的计算机游戏通常包括一种或多种人类玩家可以与一个或多个计算机控制对手竞争的模式。 例如，一个人类玩家可以驾驶一辆虚拟赛车，反对由Mario Andretti或其他赛车手驱动的计算机控制的虚拟赛车。 可以通过将人类对象的实际游戏行为的样本包括在对方的人工智能控制系统中来增强这种计算机控制的对手。 这种抽样可以允许游戏系统个性化计算机控制对象的行为来模拟人类对象。

公开(公告)号：US07965295B2

公开(公告)日：2011-06-21

申请号：US12417627

申请日：2009-04-02

申请人： Ralf Herbrich ,  Mark Hatton ,  Michael E Tipping

发明人： Ralf Herbrich ,  Mark Hatton ,  Michael E Tipping

IPC分类号： G06T15/00

CPC分类号： A63F13/573 ,  A63F13/10 ,  A63F13/803 ,  A63F2300/6027 ,  A63F2300/646 ,  A63F2300/8017

摘要： Improved human-like realism of computer opponents in racing or motion-related games is provided by using a mixture model to determine a dynamically prescribed racing line that the AI driver is to follow for a given segment of the race track. This dynamically prescribed racing line may vary from segment to segment and lap to lap, roughly following an ideal line with some variation. As such, the AI driver does not appear to statically follow the ideal line perfectly throughout the race. Instead, within each segment of the course, the AI driver's path may smoothly follow a probabilistically-determined racing line defined relative to at least one prescribed racing line.

摘要翻译： 通过使用混合模型来确定AI驱动程序对于赛道的给定段落要遵循的动态规定的赛车线，提供了赛车或运动相关游戏中的计算机对手的人性化现实主义。 这个动态规定的赛车线可能会有所不同，分段和分段，搭搭到搭乘，大致跟随一个理想的线条，有一些变化。 因此，AI驱动程序在整个比赛中都不会完美地跟随理想线条。 相反，在本课程的每个部分中，AI驾驶员的路径可以顺利地遵循相对于至少一个规定赛车线定义的概率确定的赛车线。

公开(公告)号：US20090225087A1

公开(公告)日：2009-09-10

申请号：US12417627

申请日：2009-04-02

申请人： Ralf Herbrich ,  Mark Hatton ,  Michael E. Tipping

发明人： Ralf Herbrich ,  Mark Hatton ,  Michael E. Tipping

IPC分类号： G06T7/20

CPC分类号： A63F13/573 ,  A63F13/10 ,  A63F13/803 ,  A63F2300/6027 ,  A63F2300/646 ,  A63F2300/8017

摘要： Improved human-like realism of computer opponents in racing or motion-related games is provided by using a mixture model to determine a dynamically prescribed racing line that the AI driver is to follow for a given segment of the race track. This dynamically prescribed racing line may vary from segment to segment and lap to lap, roughly following an ideal line with some variation. As such, the AI driver does not appear to statically follow the ideal line perfectly throughout the race. Instead, within each segment of the course, the AI driver's path may smoothly follow a probabilistically-determined racing line defined relative to at least one prescribed racing line.

摘要翻译： 通过使用混合模型来确定AI驱动程序对于赛道的给定段落要遵循的动态规定的赛车线，提供了赛车或运动相关游戏中的计算机对手的人性化现实主义。 这个动态规定的赛车线可能会有所不同，分段和分段，搭搭到搭乘，大致跟随一个理想的线条，有一些变化。 因此，AI驱动程序在整个比赛中都不会完美地跟随理想线条。 相反，在本课程的每个部分中，AI驾驶员的路径可以顺利地遵循相对于至少一个规定赛车线定义的概率确定的赛车线。

公开(公告)号：US07358973B2

公开(公告)日：2008-04-15

申请号：US10609997

申请日：2003-06-30

申请人： Ralf Herbrich ,  Mark Hatton ,  Michael E. Tipping

发明人： Ralf Herbrich ,  Mark Hatton ,  Michael E. Tipping

IPC分类号： G06T15/70 ,  A63F9/14

CPC分类号： A63F13/573 ,  A63F13/10 ,  A63F13/803 ,  A63F2300/6027 ,  A63F2300/646 ,  A63F2300/8017

摘要： Improved human-like realism of computer opponents in racing or motion-related games is provided by using a mixture model to determine a dynamically prescribed racing line that the AI driver is to follow for a given segment of the race track. This dynamically prescribed racing line may vary from segment to segment and lap to lap, roughly following an ideal line with some variation. As such, the AI driver does not appear to statically follow the ideal line perfectly throughout the race. Instead, within each segment of the course, the AI driver's path may smoothly follow a probabilistically-determined racing line defined relative to at least one prescribed racing line.

摘要翻译： 通过使用混合模型来确定AI驱动程序对于赛道的给定段落要遵循的动态规定的赛车线，提供了赛车或运动相关游戏中的计算机对手的人性化现实主义。 这个动态规定的赛车线可能会有所不同，分段和分段，搭搭到搭乘，大致跟随一个理想的线条，有一些变化。 因此，AI驱动程序在整个比赛中都不会完美地跟随理想线条。 相反，在本课程的每个部分中，AI驾驶员的路径可以顺利地遵循相对于至少一个规定赛车线定义的概率确定的赛车线。

公开(公告)号：US07260560B2

公开(公告)日：2007-08-21

申请号：US10610167

申请日：2003-06-30

申请人： Ralf Herbrich ,  Michael E. Tipping ,  Mark Hatton

发明人： Ralf Herbrich ,  Michael E. Tipping ,  Mark Hatton

IPC分类号： G06F17/00 ,  G06N5/00

CPC分类号： A63F13/57 ,  A63F13/10 ,  A63F13/803 ,  A63F2300/63 ,  A63F2300/64 ,  A63F2300/646 ,  A63F2300/65 ,  A63F2300/8017

摘要： In a virtual reality environment, the behavior of the computer-controlled virtual vehicle may be made more human-like by increasing the AI driver's reaction time to environmental stimuli, such as physical stimuli (e.g., detecting a loss of tire traction, audio warning signals, smoke, virtual fatigue, weather changes, etc.) or “visual” stimuli (e.g., virtual visual detection by the computer driver of a turn or obstacle in its path, ambient lighting differences, etc.). Reaction time may be increased by introducing a delay in receipt of stimuli by the artificial intelligence motion control system, by introducing a delay in receipt of control signals by the physics engine, or by modifying the control signal to degrade their accuracy in approximating a prescribed racing line.

摘要翻译： 在虚拟现实环境中，计算机控制的虚拟车辆的行为可以通过增加AI驾驶员对环境刺激的反应时间（例如物理刺激（例如，检测轮胎牵引力的损失，音频警告信号） ，烟雾，虚拟疲劳，天气变化等）或“视觉”刺激（例如，计算机驱动程序在其路径中的转弯或障碍物的虚拟视觉检测，环境照明差异等）。 通过引入人造智能运动控制系统接收到刺激的延迟，通过引入由物理引擎接收到控制信号的延迟，或者通过修改控制信号来降低其接近规定赛程的准确性，可以增加反应时间 线。

公开(公告)号：US20070156294A1

公开(公告)日：2007-07-05

申请号：US11323697

申请日：2005-12-30

申请人： Michael Tipping ,  Mark Hatton ,  Barry Brumitt

发明人： Michael Tipping ,  Mark Hatton ,  Barry Brumitt

IPC分类号： G05D1/00

CPC分类号： G05B13/0265 ,  G09B9/04 ,  G09B23/06

摘要： A learning controller overcomes tuning problems in vehicle simulation programs by estimating requisite vehicle-specific parameters, effectively learning from its mistakes, as the vehicle is automatically driven around a track. After a sufficient period of calibration, the learned parameters are automatically saved to a car-specific file. The file parameters may be loaded in the controller in the future to optimally control a vehicle without the need to re-run the learning procedure.

摘要翻译： 学习控制器通过估计必要的车辆特定参数来克服车辆模拟程序中的调谐问题，有效地从其错误中学习，因为车辆被自动地驱动在轨道周围。 经过足够的校准时间后，学习的参数将自动保存到汽车专用文件中。 文件参数可以在将来加载到控制器中以最佳地控制车辆，而不需要重新运行学习过程。