JP4804253B2 - Self-operation control method, apparatus, program, and recording medium for shooting game - Google Patents

Description

  The present invention relates to an operation control method, apparatus, program, and recording medium for the own apparatus at the time of demonstration play of a shooting game (demo screen) or autopilot control.

Conventionally, there has not been presented a method for appropriately automatically operating the player in a shooting game.
For this reason, a demonstration play of a shooting game (hereinafter referred to as a demo screen) can only be used to play a video of an exemplary play performed by a player in the past, or it can randomly move itself and attack randomly. They were limited to using simple algorithms such as firing bullets.
Here, a demonstration play of a shooting game is an example of the shooting game that is displayed on the screen to explain the content and charm of the shooting game when the player is not playing, in a waiting state. It's about playing.
Jonathan Schaeffer, H. Jaap van den Herik, “Games, computers, and artificial intelligence”, Artificial Intelligence, 2002, Vol. 134, p1-7

However, there is a problem that only the same demonstration play is displayed repeatedly only by playing the movie of the exemplary play, and only a part of the content and charm of the shooting game can be expressed.
In addition, a simple algorithm that moves the aircraft randomly and fires an attack bullet at random does not work rationally from the human eye. Your aircraft will be destroyed immediately. For this reason, there has been a problem that it is difficult to display the demonstration screen for a long time that allows the contents of the shooting game to be understood.
By the way, it seems that it is effective to introduce artificial intelligence technology in order to make the operation algorithm of the own machine in the demonstration play intelligent, but the research of the game in the current artificial intelligence is chess, The focus was on non-action thinking games such as Othello and Shogi (see Non-Patent Document 1, for example). That is, there has been a problem that there is no attempt to apply the artificial intelligence technology to an action game such as a shooting game.

Artificial intelligence technology research to solve thinking games such as chess, othello, and shogi is focused on developing methods for efficient deep search computation. Certainly, techniques for efficiently performing deep search calculations are important, but in action games such as shooting games, it is more important to achieve real-time processing of search calculations than the depth of search. . However, there is a problem that there is no algorithm that takes into consideration the real-time property of search calculation processing.
In view of the above problems, an object of the present invention is to provide a self-motion control method, an apparatus, a program, and a recording medium for a shooting game using artificial intelligence technology, which can be used for demonstration play, for example. To do.

  The time t at which the own aircraft starts moving at the selected moving speed is set to t = 0, and the first existence probability calculation means determines that the own aircraft is the enemy aircraft and the attack bullets of the enemy aircraft at t = nT (n is an arbitrary natural number). The probability Ps (nT, s) existing in each cell s constituting the grid dividing the game screen without being destroyed by the above is obtained and stored in the first own device existence probability storage means. The probability Ps (nT, nT, n) that the target position determination unit is not destroyed by the enemy aircraft and the attacking bullet of the enemy aircraft at t = nT, which is read by the own target position determination unit from the first own existence probability storage unit. s), the cell having the highest probability is selected, and the cell is set as the target position. When it is determined that the second aircraft existence probability calculating means has reached the target position at time t = nT, the probability Psr (1) that the own device exists in each cell s at time t = T. T, s) is calculated and stored in the second device existence probability storage unit. The moving speed determination means uses the probability Psr (T, s0 ′) read from the second own device existence probability storage unit among the cells s0 ′ that the own device at time t = 0 can reach at time t = T. The moving speed of the own device at time t = 0 is determined so as to move to the highest cell.

  Psr (t, s) is a probability that the own device exists in the cell s at time t when the own device reaches the cell s (Xd, Yd) at time t = nT. In other words, Psr (t, s) is an index representing the possibility that the own aircraft existing in the cell s at time t will reach the cell s (Xd, Yd) at time t = nT. Specifically, the probability that the own device reaches the cell s (Xd, Yd) at time t = nT increases as the own device is located in the cell where Psr (t, s) is large. For this reason, by selecting the moving speed w at which the own machine located at the cell s0 at the time t = 0 moves to the cell s0 ′ that maximizes Psr (T, s0 ′), the own machine at the time t = nT. Has the highest probability of reaching the cell s (Xd, Yd). That is, by selecting the moving speed w in this way, the survival probability of the own aircraft can be maximized.

  According to the present invention, since the own aircraft is not easily destroyed by the enemy aircraft, it is possible to efficiently demonstrate the shooting game.

[Device configuration]
FIG. 1 illustrates a functional configuration of the own game operation control device 1 for a shooting game according to the present invention.
The own device operation control device 1 includes, for example, a current position acquisition unit 2, a coordinate conversion unit 3, a first existence probability calculation unit 4, an existence probability storage unit 5, an own device target position determination unit 8, a storage unit 10, and a movement speed determination. Unit 11, display unit 12, and second device existence probability calculation unit 91.
The first presence probability calculation unit 4 includes, for example, a first own aircraft presence probability calculation unit 41, an enemy aircraft presence probability calculation unit 42, and an enemy aircraft attack bullet presence probability calculation unit 44. The existence probability storage unit 5 includes, for example, a first own aircraft existence probability storage unit 51, an enemy aircraft existence probability storage unit 52, an enemy aircraft attack bullet existence probability storage unit 53, and a second own aircraft existence probability storage unit 54. .
As shown in FIG. 6, the first own device existence probability calculation unit 41 includes, for example, a movement probability calculation unit 412, an accumulation unit 413, an addition unit 414, an accumulation unit 415, an addition unit 416, an accumulation unit 417, and a maximum value extraction unit. 419 and subtracting section 410.

As shown in FIG. 4, the enemy aircraft existence probability calculation unit 42 includes, for example, an enemy aircraft moving speed unit 421, a movement probability calculation unit 422, an integration unit 423, an addition unit 424, an integration unit 425, and an addition unit 426. .
As shown in FIG. 5, the enemy aircraft attack bullet existence probability calculation unit 44 includes, for example, a movement probability calculation unit 442, an integration unit 443, and an addition unit 444.
The second own device existence probability calculating unit 91 includes, for example, a movement probability calculating unit 912, an integrating unit 913, an adding unit 914, an integrating unit 915, an adding unit 916, an integrating unit 917, a maximum value extracting unit 919, and a subtracting unit 910. Is done.

<Explanation of shooting game>
FIG. 2 illustrates a shooting game that is a target of the processing of the present invention. On the screen, the own machine 1 and the attack bullet 3 of the own machine 1, and the enemy machine 2 and the attack bullet 4 of the enemy machine 2 are displayed. There may be a plurality of attack bullets 3, enemy aircraft 2, and attack bullets 4. When there are a plurality of enemy aircraft 2, it is assumed that each enemy aircraft is assigned a different number i (i = 1... I). Similarly, when there are a plurality of enemy bullets 4, it is assumed that each enemy bullet 4 has a different number j (j = 1... J). Also, it is assumed that the own aircraft 1, enemy aircraft 2, attack bullet 3, and attack bullet 4 are located on a two-dimensional plane composed of the X axis and the Y axis.

  The player operates the own aircraft 1 to fight the enemy aircraft 2. The player can move his / her own machine for the action unit time T at W movement speeds (direction and speed) in one operation. W types of movement speeds (Vxs (w), Vys (w)) that can be taken by the own device 1 are determined in advance, and different movement speeds are provided for the respective movement speeds (Vxs (w), Vys (w)). It is assumed that a number w (w = 1,..., W) is assigned. Hereinafter, the action of selecting the movement speed number w is referred to as action w. In addition, the player can perform an operation of firing an attack bullet 3 for attacking the enemy aircraft 2 at the same time as moving at the W speeds.

For example, when W = 9,
(Vxs (1), Vys (1)) = (V, 0)
(Vxs (2), Vys (2)) = (V, V)
(Vxs (3), Vys (3)) = (0, V)
(Vxs (4), Vys (4)) = (− V, V)
(Vxs (5), Vys (5)) = (− V, 0)
(Vxs (6), Vys (6)) = (− V, −V)
(Vxs (7), Vys (7)) = (0, −V)
(Vxs (8), Vys (8)) = (V, −V)
(Vxs (9), Vys (9)) = (0, 0)
It can be.

The enemy aircraft 2 can move at the moving speed (Vxei (a), Vyei (a)). A type of movement speeds (Vxei (a), Vyei (a)) that can be taken by the enemy aircraft 2 are determined in advance, and each movement speed (Vxei (a), Vyei (a)) has different movement speeds. It is assumed that a number a (a = 1,..., A) is assigned. Hereinafter, the action of selecting the moving speed number a is referred to as action a. The enemy aircraft 2 can fire the attack bullet 4 at an arbitrary speed (direction and speed) in order to attack the own aircraft. The fired attack bullet 4 moves at a predetermined moving speed (Vxbj, Vybj). It is assumed that the enemy aircraft 2 selects the action a according to the existing algorithm and fires the attack bullet 4.
When the own aircraft 1 collides with the enemy aircraft 2 and the attack bullet 4 fired by the enemy aircraft 2, the own aircraft 1 is destroyed and the game is over there. On the contrary, when the attack bullet 3 of the own aircraft 1 collides with the enemy aircraft 2, the enemy aircraft 2 is destroyed. When all the enemy aircrafts 2 are destroyed by the attack bullet 3 of the own device 1, the user wins the game.

  The own device operation control apparatus and method according to the present invention controls the operation of the own device on behalf of the player in such a shooting game. Specifically, the moving speed of the own device is determined for each behavior unit time T. In the following, the time t at which the own device starts moving at the selected moving speed is set to t = 0.

<Step 1>
The current position acquisition unit 2 acquires the position (xs, ys) of the own machine at time t = 0, that is, the current position (xs, ys) of the own machine. The coordinate conversion unit 3 converts the acquired current position (xs, ys) of the own device into the coordinates of the cells.
Here, the game screen is divided into lattices, and the unit of the lattice is called a grid. For example, the coordinate of the lower left cell of the screen is (0, 0), and the coordinates of the cell of (0, 0) that are X right and Y above are ( X, Y). Here, X and Y are integers of 0 or more.
In addition, the game is performed so that the length S of one side of the grid is a value obtained by multiplying the speed V of the player's own machine moving in the direction parallel to the side by the action unit time T, that is, S = VT. Divide the screen into grids. By setting the length of one side of the cell in this way, no matter what moving speed (Vxs (w), Vys (w)) the aircraft that exists in a certain cell s moves, after the action unit time T Will always exist in a certain cell s with a probability of 100%. For this reason, a calculation burden can be reduced.

In addition, if the length of one side of the mesh is large, the processing of the present invention becomes rough, and it may not be possible to properly control the own device. Therefore, the length S of one side of the square is less than one third of the length of half the sum of the diameter of the circle inscribed in the shape of the own aircraft and the diameter of the circle inscribed in the shape of the attacking bullet of the enemy aircraft. The action unit time T and the speed V of the own machine may be determined so as to be values.
The coordinate conversion unit 3 selects the cell s0 (Xs, Ys) including the acquired current position (xs, ys) of the own device.
The first own device existence probability calculation unit 41 sets the probability Ps (0, s0) that the own device exists in the selected cell s0 (Xs, Ys) as Ps (0, s0) = 1, It is stored in the machine presence probability storage unit 51.

<Step 2>
The current position acquisition unit 2 acquires the position (xei, yei) of the enemy aircraft at time t = 0. The enemy aircraft initial existence probability calculation unit 45 calculates the area of the portion overlapping the cell sei centering on the acquired position (xei, yei) of the enemy aircraft and each cell s constituting the grid dividing the game screen. calculate. The enemy aircraft is assumed to exist in each cell s with a probability proportional to the area of the overlapped portion. That is, the area where the cell sei centering on the position (xei, yei) of the enemy aircraft and each cell sj (j = 1 to 4) constituting the grid dividing the game screen is represented by D (sei, sj ), The probability Pei (t, sj) that an enemy aircraft exists in each cell sj (j = 1 to 4) is
Pei (t, sj) = D (sei, sj) / Σ _j D (sei, sj) (1)
As given.

For example, as shown in FIG. 3, when the cell sei centering on the position (xei, yei) of the enemy aircraft and each cell sj (j = 1 to 4) constituting the grid dividing the game screen overlap. To do. That is, the area D (sei, s1) = 8 of the portion where the cell sei and the cell s1 overlap, the area D (sei, s2) = 8 of the portion where the cell sei and the cell s2 overlap, and the cell sei and the cell s3 are It is assumed that the area D (sei, s3) = 2 of the overlapping portion and the area D (sei, s4) = 2 of the overlapping portion of the cell sei and the cell s4. At this time, the probability that the enemy aircraft exists in the cell sj (j = 1 to 4) is given as follows: Pei (t, s1) = D (sei, s1) / Σ _j D (sei, sj) = 8/20 = 0.4
Pei (t, s2) = D (sei, s2) / Σ _j D (sei, sj) = 8/20 = 0.4
Pei (t, s3) = D (sei, s3) / Σ _j D (sei, sj) = 2/20 = 0.1
Pei (t, s4) = D (sei, s4) / Σ _j D (sei, sj) = 2/20 = 0.1
As described above, the enemy aircraft initial existence probability calculation unit 45 calculates the probability Pei (0, s) that the enemy aircraft is present in the cell s at time t = 0, and uses the calculated probability as the enemy aircraft. Store in the existence probability storage unit 52.

In the above description, the case where the cell sei overlaps the four cells s has been described as an example. However, when the cell sei overlaps four or more cells s, the cell sei overlaps the two cells s. Even if it overlaps with one cell s, similarly, the probability that an enemy aircraft exists in each cell s can be obtained by the above equation (1).
Note that, for example, a half value of the sum of the diameter of a circle inscribed in the shape of the enemy aircraft and the diameter of the circle inscribed in the shape of the own aircraft is set as a scale sei centered on the position (xei, yei) of the enemy aircraft. Can be the length of one side.
If there are a plurality of enemy aircraft, the probability is calculated for all enemy aircraft i (i = 1,..., I), and the probability Pei (t, s) (i = 1,. .., I) is stored in the enemy aircraft existence probability storage unit 52. Pei (t, s) (i = 1,..., I) is an array.

<Step 3>
The current position acquisition unit 2 acquires the position (xbj, ybj) of the attack bullet of the enemy aircraft at time t = 0. The enemy aircraft attack bullet initial existence probability calculation unit 46 includes a cell sbj centered on the position (xbj, ybj) of the obtained enemy aircraft attack bullet, and each cell s constituting a grid dividing the game screen, Calculate the area of the overlapping part. Assume that the attack bullets of enemy aircraft are present in each cell s with a probability Pbj (0, s) proportional to the area of the overlapped portion. The calculation method of the probability is the same as the above-described method for obtaining the probability Pei (0, s) that the enemy aircraft exists in each cell s.
For example, a value that is half the sum of the diameter of the circle inscribed in the shape of the attack bullet of the enemy aircraft and the diameter of the circle inscribed in the shape of the own aircraft is centered on the position (xbj, ybj) of the enemy aircraft. The length of one side of the square sbj can be made.
If there are a plurality of enemy bullets, the probability is calculated for all enemy bullets j (j = 1,..., J), and the probability Pbj (t, s) is calculated. (J = 1,..., J) is stored in the enemy aircraft existence probability storage unit 52. Pbj (t, s) (j = 1,..., J) is an array.

<Step 4>
The enemy aircraft existence probability calculation unit 42 sets τ = 0, T,..., (N−1) T, and the probability Pei (τ, se ′ () that the enemy aircraft at time t = τ exists in the cell se ′ (i). Based on i)), a probability Pei (τ + T, se (i)) that an enemy aircraft exists in the cell se (i) at time t = τ + T after the elapse of the action unit time T from time t = τ is obtained. By repeating this process, the enemy aircraft existence probability calculation unit 42 finally has an enemy aircraft in the cell se (i) at each time t = kT (k = 1... N). Find the probability. The calculated probability Pei (t, se (i)) (t = kT (k = 1... N)) is stored in the enemy aircraft existence probability storage unit 52.
First, the enemy aircraft existence probability calculation unit 42 calculates the following equation to calculate the following equation based on the probability Pei (τ, se ′ (i)) that the enemy aircraft at time t = τ exists in the cell se ′ (i). , The probability Pei (τ + T, se (i)) that an enemy aircraft at t = τ + T exists in the cell se (i) is obtained.

Pei (τ + T, se (i)) = Σ _s {Ps (τ, s) · Σ _{se ′ (i)} {Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ (i))}} (2)
Here, Ai (s, se ′ (i), t) is a movement speed number a depending on the coordinates of the cell s where the own aircraft is present and the coordinates of the cell se ′ (i) where the enemy aircraft is present. Is a function that determines Any existing algorithm can be used as Ai (s, se ′ (i), t). For example, Ai (s, se ′ (i), t) is calculated from the coordinates of the center of the cell s where the own aircraft exists at the time t to the center of the cell se ′ (i) where the enemy aircraft exists at the time t. An algorithm for selecting the number a of the moving speed (Vxei (a), Vyei (a)) that gives the direction closest to the direction of the vector minus the coordinate can be used.

  Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) indicates that the enemy aircraft existing in the cell se ′ (i) at time t = τ = Ai (s, se '(i), τ)) according to the moving speed (Vxei (a), Vyei (a)) for the action unit time T, so that at time t = τ + T, the cell se (i) It is the probability of being present. A method of calculating Ptrii (se ′ (i), se (i), Ai (s, se ′ (i), τ)) will be described later.

Hereinafter, the calculation of the above equation (2) will be described with reference to FIG. FIG. 4 is a diagram illustrating a functional configuration of the enemy aircraft existence probability calculation unit 42.
The enemy aircraft moving speed determination unit 421 uses the existing algorithm exemplified above from the cell s where the own aircraft is present at time t = τ and the cell se ′ (i) where the enemy aircraft is present. Thus, the movement speed number a = Ai (s, se ′ (i), t) of the enemy aircraft is determined.
As a result of the movement probability calculation unit 422 moving the enemy aircraft existing in the cell se ′ (i) by the action unit time T at the movement speed corresponding to the movement speed number a of the enemy aircraft obtained as described above, the movement se s e The probability Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) existing in (i) is calculated.
The accumulating unit 423 includes the calculated Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) and the enemy aircraft read from the enemy aircraft existence probability storage unit 52. Product Ptrii (se ′ (i), se (i), Ai (s, se ′ (i), τ)) with the probability Pei (τ, se ′ (i)) existing in the cell se ′ (i) ) · Pei (τ, se ′ (i)) is obtained.

In this way, the enemy aircraft moving speed determining unit 421, the movement probability calculating unit 422, and the accumulating unit 423 give the above-mentioned Ptrii (se ′) for all the cells se ′ (i), given the cell s where the own aircraft exists. (I), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ (i)) are calculated.
The adder 424 calculates Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se) for each cell se ′ (i). '(I)) is added. That is, Σse _{′ (i)} {Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ (i))} is calculated. .
The accumulating unit 425 calculates Σse _{′ (i)} {Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ ( i))} and a probability Ps (τ, s) · Σ _{se ′ (i)} {Ptrii (se ′ (i)) , Se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ (i))}.

In this way, the enemy aircraft moving speed determining unit 421, the movement probability calculating unit 422, the accumulating unit 423, the adding unit 424, and the accumulating unit 425 have the above Ps (τ, s) · Σse _{′ (i)} {Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ (i))} is calculated.
The adder 426 calculates Ps (τ, s) · Σ _{se ′ (i)} {Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ (i))} is added. That is, Σ _s {Ps (τ, s) · Σ _{se ′ (i)} {Ptrei (se ′ (i), se (i), Ai (s, se ′ (i), τ)) · Pei (τ, se ′ (i))}} is calculated.

In this way, the enemy aircraft existence probability calculation unit 42 considers all the cells s in which the aircraft is present, and the probability Pei (τ, se) that the enemy aircraft at the time t = τ exists in the cell se ′ (i). Based on '(i)), a probability Pei (τ + T, se (i)) that an enemy aircraft at t = τ + T exists in the cell se (i) is obtained.
The above process is performed for all τ (τ = T,..., (N−1) T) in ascending order, and the probability that an enemy aircraft exists in the grid s is determined at each time. At t = nT, the probability that an enemy aircraft exists in the cell s is obtained. These calculated probabilities are stored in the enemy aircraft existence probability storage unit 52.

In step 4, since it is necessary to distinguish the cell s in which the own aircraft is present from the cell se (i) in which the enemy aircraft is present, the notation is divided as the cell s and the cell se (i). However, the grid s and the grid se (i) mean the same grid in terms of the structural unit of the grid divided on the screen.
Also, the following equation that is mathematically equivalent to equation (2):
Pei (τ + T, se (i)) = Σ _s Σ _{se ′ (i)} {Ps (τ, s) · Ptrei ( se ′ (i), se (i), Ai (s, se ′ (i), τ) )) · Pei (τ, se ′ (i))} (2a)
Based on the above, the existence probability Pei (τ + T, se (i)) of the enemy aircraft may be obtained.

<Step 5>
Based on the probability Pbj (τ, sb ′ (j)) that the enemy's attack bullet at the time t = τ exists in the cell sb ′ (j), the enemy aircraft attacking bullet presence probability calculation unit 44 sets the time t = τ + T. The probability Pbj (τ, sb (j)) that the attacking bullet of the enemy aircraft is present in the cell sb (j) is obtained. Then, the enemy aircraft attack bullet existence probability calculation unit 44 repeats this process, so that the enemy aircraft's attack bullets finally have a grid sb (i) at each time t = kT (k = 1... N). Find the probability of being in The calculated probability Pbj (t, sb (j)) (t = kT (k = 1... N)) is stored in the enemy aircraft attack bullet existence probability storage unit 53.
First, the enemy aircraft attack bullet existence probability calculation unit 44 calculates the following formula to obtain the probability Pbj (τ, sb ′ (j) that an enemy aircraft's attack bullet at time t = τ exists in the cell sb ′ (j). )), The probability Pbj (τ, sb (j)) that the attacking bullet of the enemy aircraft at time t = τ + T exists in the cell sb (j) is obtained.

Pbj (τ + T, sb (j)) = Σ _{sb ′ (j)} {Ptrbj (sb ′ (j), sb (j)) · Pbj (τ, sb ′ (j))} (3)
Here, Ptrbj (sb ′ (j), sb (j)) indicates that the attacking bullet of the enemy aircraft existing in the cell sb ′ (j) at the time t = τ acts according to a predetermined moving speed (Vxbj, Vybj). This is the probability of moving in the unit time T and existing in the cell sb (j) at time t = τ + T. A method of calculating Ptrbj (sb ′ (j), sb (j)) will be described later.

Hereinafter, with reference to FIG. 5, the calculation of the above equation (3) will be described. FIG. 5 is a diagram illustrating a functional configuration of the enemy aircraft attack bullet presence probability calculation unit 44.
As a result of the movement probability calculation unit 442, the attack bullet of the enemy aircraft existing in the cell sb ′ (j) has moved by the action unit time T at the predetermined movement speed (Vxbj, Vybj) read from the storage unit 10, The probability Ptrbj (sb ′ (j), sb (j)) existing in the cell sb ′ (j) is calculated.
The accumulating unit 443 includes the calculated Ptrbj (sb ′ (j), sb (j)) and the enemy aircraft's attack bullet read from the enemy aircraft attack bullet existence probability storage unit 53 in the cell sb ′ (j). The product Ptrbj (sb ′ (j), sb (j)) · Pbj (τ, sb ′ (j)) with the probability Pbj (τ, sb ′ (j)) is obtained.
In this way, the movement probability calculation unit 442 and the integration unit 443 perform the above-described Ptrbj (sb ′ (j), sb (j)) · Pbj (τ, sb ′ (j)) for all the cells sb ′ (j). Calculate
The adder 444 adds Ptrbj (sb ′ (j), sb (j)) · Pbj (τ, sb ′ (j)) calculated for each cell sb ′ (j). That is, Σ _{sb ′ (j)} {Ptrbj (sb ′ (j), sb (j)) · Pbj (τ, sb ′ (j))} is calculated.

In this manner, the enemy aircraft attack bullet existence probability calculation unit 44 is based on the probability Pbj (τ, sb ′ (j)) that the enemy aircraft's attack bullet at time t = τ exists in the cell sb ′ (j). The probability Pbj (τ + T, sb (j)) that an enemy aircraft at t = τ + T exists in the cell sb (j) is obtained.
The above processing is performed for all τ (τ = T,..., (N−1) T) in ascending order of τ, and the probability that an enemy's attack bullet is present in the square s is obtained at each time. In addition, at time t = nT, the probability that an attacking bullet of an enemy aircraft exists in the cell s is obtained. These calculated probabilities are stored in the enemy aircraft attack bullet existence probability storage unit 53.

<Step 6>
The first own device existence probability calculation unit 41 sets τ = 0, T,..., (N−1) T, and sets the probability Ps (τ, s ′) that the own device exists in the cell s ′ at time t = τ. Based on this, the probability Ps (τ + T, s) that the own device exists in the cell s at the time t = τ + T after the lapse of the action unit time T from the time t = τ is obtained. Then, by repeating this process, the first own device existence probability calculation unit 41 finally has a probability that the own device exists in the cell s at each time t = kT (k = 1... N). Ask for. The calculated probability Ps (t, s) (t = kT (k = 1... N)) is stored in the first own device existence probability storage unit 51.
First, the first own device existence probability calculation unit 41 calculates t = τ + T based on the probability Ps (τ, s ′) that the own device exists in the cell s ′ at time t = τ by calculating the following equation. The probability Ps (τ + T, s) that the own device exists in the cell s is obtained.

Ps (τ + T, s) = (1−max (Pei (t + T, s), Pbj (t + T, s))) Σ _w {Psel (w, τ) · Σ _{s ′} {Ptrs (s ′, s, w) ) · Ps (τ, s ′)}} (4)
Here, Psel (w, t) is the probability that the own device will select the moving speed number w at time t. For example, assuming that the mobile device selects the moving speed number w with equal probability, Psel (w, t) = 1 / W can be set. In addition, the user can arbitrarily select the value of Psel (w, t). It is assumed that the value of Psel (w, t) is set in advance and stored in the storage unit 10.

Ptrs (s ′, s, w) is the time when the own unit existing in the cell s ′ at time t = τ is only the action unit time T according to the moving speed (Vxs (w), Vys (w)) of the moving speed number w. It is the probability of moving and existing in the cell s at time t = τ + T. A method of calculating Ptrs (s ′, s, w) will be described later.
Hereinafter, the calculation of the above equation (4) will be described with reference to FIG. FIG. 6 is a diagram illustrating a functional configuration of the first device existence probability calculation unit 41.
The movement probability calculation unit 412 moves the own machine existing in the cell s ′ for the action unit time T at the movement speed (Vxs (w), Vys (w)) corresponding to the movement speed number w of the own machine. As a result, the probability Ptrs (s ′, s, w) existing in the cell s ′ is calculated.
The accumulating unit 413 calculates Ptrs (s ′, s, w) calculated above and the probability Ps (τ, s ′) that the own device read from the first own device existence probability storage unit 51 exists in the cell s ′. ) And Ptrs (s ′, s, w) · Ps (τ, s ′).

In this manner, the movement probability calculation unit 412 and the integration unit 413 calculate the above Ptrs (s ′, s, w) · Ps (τ, s ′) for all the cells s ′.
The adder 414 adds the calculated Ptrs (s ′, s, w) · Ps (τ, s ′) for each cell s ′. That is, Σ _{s ′} {Ptrs (s ′, s, w) · Ps (τ, s ′)} is calculated.
The accumulating unit 415 reads out the calculated Σ _{s ′} {Ptrs (s ′, s, w) · Ps (τ, s ′)} and the own speed at time t = τ read from the storage unit 10. The product Psel (w, τ) · Σ _{s ′} {Ptrs (s ′, s, w) · Ps (τ, s ′)} with the probability Psel (w, τ) for selecting the number w is obtained.

In this way, the movement probability calculation unit 412, the accumulation unit 413, the addition unit 414, and the accumulation unit 415 perform the above Psel (w, τ) · Σ _{s ′} {Ptrs ( s ′, s, w) · Ps (τ, s ′)} is calculated.
The adding unit 416 adds the Psel (w, τ) · Σ _{s ′} {Ptrs (s ′, s, w) · Ps (τ, s ′)} obtained for each moving speed number w. That is, Σ _w Psel (w, τ) · Σ _{s ′} {Ptrs (s ′, s, w) · Ps (τ, s ′)} is calculated.
The maximum value extraction unit 419 calculates max (Pei (τ + T, s), Pbj (τ + T, s)). That is, the probability Pei (τ + T, s) (i = 1,..., I) that an enemy aircraft exists in the cell s at time t = τ + T read from the enemy aircraft existence probability storage unit 52, and the presence of enemy aircraft attack bullets. The largest value is compared with the probability Pbj (τ + T, s) (j = 1,..., J) that the attacking bullet of the enemy aircraft is present in the cell s at time t = τ + T read from the probability storage unit 53. Is output.

That is, Pei (τ + T, s) for all i = 1,..., I and Pbj (τ + T, s) for j = 1,. To do.
The subtraction unit 410 calculates a value obtained by subtracting the calculated max (Pei (τ + T, s), Pbj (τ + T, s)) from 1.
The accumulating unit 417 calculates Σ _w Psel (w, τ) · Σ _{s ′} {Ptrs (s ′, s, w) · Ps (τ, s ′)} calculated by the adding unit 416 and the subtracting unit 410 calculates. The product of 1−max (Pei (τ + T, s), Pbj (τ + T, s)) is obtained.

In this way, by multiplying by 1-max (Pei (τ + T, s), Pbj (τ + T, s)), the enemy aircraft or the enemy's attack bullet exists at the grid s at time t = τ + T. In this case, the existence probability Ps (τ, s) of the own apparatus can be calculated on the assumption that the own apparatus has been destroyed.
In this way, the first own device existence probability calculation unit 41 determines that the own device at time t = τ + T is a cell s based on the probability Ps (τ, s) that the own device exists at time t = τ. The probability Ps (τ + T, s) existing in is calculated.
The above processing is performed for all τ (τ = T,..., (N−1) T) in ascending order of τ, and the probability that the own device exists in the cell s is determined at each time. At t = nT, the probability that the own device exists in the cell s is obtained. These calculated probabilities are stored in the first device existence probability storage unit 51.

<Movement probability calculation method>
Hereinafter, a probability Ptrii that an enemy aircraft existing in the cell s ′ moves to the cell s by moving by the action unit time T according to the movement speed (Vxei (a), Vyei (a)) of the movement speed number a of the enemy aircraft. s ′, s, a) and the probability Ptrbj (s ′, s ′, s, a) that the attacking bullet of the enemy aircraft existing in the cell s ′ moves by the action unit time T according to the predetermined moving speed (Vxbj, Vybj). s), the probability Ptrs (s ′) that the aircraft that exists in the cell s ′ moves to the cell s by moving for the action unit time T according to the movement speed (Vxs (w), Vys (w)) of the movement speed number w. , S, w) will be described.

First, how to obtain Ptrs (s ′, s, w) will be described. The displacement amount (dxs, dys) of the x coordinate and the y coordinate when the own machine selects the movement speed number w and moves by the action unit time T is
dxs = Vxs (w) × T
dys = Vys (w) × T
It is. A cell s ′ where the own device is present is defined as a cell sds which has been translated by the displacement (dxs, dys). Let Ptr (s ′, s, w) be the ratio of the area where the cell sds overlaps the cell s to the area of the entire cell s. That is, in step 2, Prt (s ′, s, w) is obtained in the same manner as calculating the existence probability of the enemy aircraft.

  For example, as shown in FIG. 17, it is assumed that the cell sds overlaps the cells s1 to s9. Here, the numerical values from 0 to 1 written in each cell represent the ratio of the area where the cell sds overlaps the cell to the area of the cell. At this time, Ptr (s ′, s1, w) = 0.22, Ptr (s ′, s2, w) = 0.33, Ptr (s ′, s3, w) = 0.09, Ptr (s ′, w) s4, w) = 0.6, Ptr (s ′, s5, w) = 1, Ptr (s ′, s6, w) = 0.24, Ptr (s ′, s7, w) = 0.25, Ptr (S ′, s8, w) = 0.38, Ptr (s ′, s9, w) = 0.1.

Next, how to obtain Ptrii (s ′, s, a) will be described. The displacement (dxei, dyei) of the x coordinate and y coordinate when the enemy aircraft selects the movement speed number a and moves for the action unit time T is as follows:
dxei = Vxei (a) × T
dyei = Vyei (a) × T
It is. The size of one side is the size of the enemy aircraft (the diameter of the circle inscribed in the shape of the enemy aircraft) and the size of the own aircraft (the diameter of the circle inscribed in the own aircraft) at the center of the square s' where the enemy aircraft exists A new cell which is half the sum of the two is newly created, and this cell is defined as a cell sdei which has been translated by the displacement (dxei, dyei). Let Ptrei (s ′, s, a) be the ratio of the area where the cell sdei and the cell s overlap to the area of the entire cell s.

Finally, how to obtain Ptrbj (s ′, s) will be described. The displacement (dxbj, dybj) of the x-coordinate and y-coordinate when the attacking bullet of the enemy aircraft moves by the action unit time T according to the predetermined moving speed (Vxbj, Vybj) is
dxbj = Vxbj × T
dybj = Vybj × T
It is. The size of one side is the size of the enemy's attack bullet (the diameter of the circle inscribed in the shape of the enemy's attack bullet) and the size of your aircraft ( A new cell which is half the sum of the diameter of the circle inscribed in the shape of the own machine is newly created, and this cell is defined as a cell sdbj which has been translated by the displacement (dxbj, dybj). Let Ptrbj (s ′, s) be the ratio of the area where the cell sdbj and the cell s overlap to the total area of the cell s.

  Thus, the length of one side of the cell where the enemy aircraft is located and the length of one side of the cell sdei obtained by moving this cell by the amount of displacement (dxei, dyei) of the enemy aircraft are the size of the enemy aircraft. If the value is half of the sum of the diameter (the diameter of the circle inscribed in the shape of the enemy aircraft) and the size of the own aircraft (the diameter of the circle inscribed in the shape of the own aircraft), the enemy aircraft may destroy itself. The range that can be covered is substantially the same as the range covered by the mesh, and the contact between the enemy aircraft and the own aircraft can be more appropriately determined. It should be noted that the length of one side of the square sdbj obtained by moving the square where the enemy's attack bullet is located by the displacement (dxbj, dybj) of the enemy's attack bullet is the size of the enemy attack bullet (enemy The reason why the value of the sum of the diameter of the circle inscribed in the shape of the attack bullet) and the size of the own aircraft (diameter of the circle inscribed in the shape of the own aircraft) is the same.

<Step 7>
The own target position determination unit 8 determines the probability Ps (nT, s) that the own aircraft is not destroyed by the enemy aircraft and the enemy's attack bullet at t = nT from the first own aircraft existence probability storage unit 51. ) Is selected as the target position (Xd, Ys). The calculated target position (Xd, Ys) is output to the second own aircraft existence probability calculation unit 91.

The target position (Xd, Yd) calculated as described above is the position where the aircraft is most likely to reach while avoiding enemy aircraft and enemy bullets. In other words, it can be said that the action aiming at the target position (Xd, Yd) maximizes the survival rate of the own device.
In normal search calculation, for example, it is necessary to hold each piece of data of the future movement pattern of the own aircraft (for example, a permutation representing a movement direction selection history of W to the nth power). As it increases, the calculation time increases with a power. However, if the search is calculated as described above, even if the search depth n increases, the calculation time only increases in proportion to the search depth n at most, and the requirement for real-time performance can be satisfied. There is a merit.

<Step 8>
The second own device existence probability calculation unit 91 determines that the own device is in the cell s ′ at time t = τ + T when it is determined that the own device reaches the target position (Xd, Yd) at time t = nT. Based on the existing probability Psr (τ + T, s ′), when it is determined that the aircraft reaches the target position (Xd, Yd) at time t = nT, The probability Psr (τ, s) existing in s is calculated. When this calculation is performed for all τ = mT (m is a natural number equal to or less than n−1), when it is finally determined that the aircraft reaches the target position at time t = nT. The probability Psr (T, s) that the own device exists in each cell s at time t = T is calculated. The calculated probability Psr (t, s) is stored in the second device existence probability storage unit 54.

  First, the second own device existence probability calculation unit 91 calculates the following formula to determine that the own device has reached the target position (Xd, Yd) at time t = nT. When it is determined that the aircraft will reach the target position (Xd, Yd) at time t = nT based on the probability Psr (τ + T, s ′) that the aircraft exists at the cell s ′ at τ + T Then, the probability Psr (τ, s) that the own device exists in the cell s at t = τ is obtained.

Psr (τ, s) = (1-max (Pei (t, s), Pbj (t, s))) Σ _w {Psel (w, τ) · Σ _{s ′} {Ptrs (s, s ′, w) ) · Psr (τ + T, s ′)}} (5)
As described in step S6, Psel (w, t) is a probability that the own device selects the moving speed number w at time t, and Ptrs (s, s ′, w) is a square at time t = τ. The own aircraft that exists in s moves in the action unit time T according to the moving speed (Vxs (w), Vys (w)) of the moving speed number w, so that it exists in the cell s ′ at time t = τ + T. It is a probability.

Hereinafter, the calculation of the above equation (5) will be described with reference to FIG. FIG. 7 is a diagram illustrating a functional configuration of the second own device existence probability calculation unit 91.
The movement probability calculation unit 912 is a result of the own machine existing in the cell s moving by the action unit time T at the movement speed (Vxs (w), Vys (w)) corresponding to the movement speed number w of the own machine. , The probability Ptrs (s, s ′, w) existing in the cell s ′ is calculated.
The integrating unit 913 calculates the product Ptrs (s, s ′, w) of the calculated Ptrs (s, s ′, w) and the Psr (τ + T, s ′) read from the second own device existence probability storage unit 54. ) · Psr (τ + T, s ′) is obtained.
In this way, the movement probability calculation unit 912 and the integration unit 913 calculate Ptrs (s, s ′, w) · Psr (τ + T, s ′) for all the cells s ′.
The adder 914 adds Ptrs (s, s ′, w) · Psr (τ + T, s ′) calculated for each cell s ′. That is, Σ _{s ′} {Ptrs (s, s ′, w) · Psr (τ + T, s ′)} is calculated.
The accumulating unit 915 reads the above calculated Σ _{s ′} {Ptrs (s, s ′, w) · Psr (τ + T, s ′)} and the moving speed of the own device at time t = τ read from the storage unit 10. The product Psel (w, τ) · Σ _{s ′} {Ptrs (s, s ′, w) · Psr (τ + T, s ′)} with the probability Psel (w, τ) for selecting the number w is obtained.

In this way, the movement probability calculation unit 912, the accumulation unit 913, the addition unit 914, and the accumulation unit 915 have the above Psel (w, τ) · Σ _{s ′} {Ptrs ( s, s ′, w) · Psr (τ + T, s ′)}.
The adder 916 adds the Psel (w, τ) · Σ _{s ′} {Ptrs (s, s ′, w) · Psr (τ + T, s ′)} obtained for each moving speed number w. That is, Σ _w Psel (w, τ) · Σ _{s ′} {Ptrs (s, s ′, w) · Psr (τ + T, s ′)} is calculated.
The maximum value extraction unit 919 calculates max (Pei (τ, s), Pbj (τ, s)). That is, the probability Pei (τ, s) (i = 1,..., I) that an enemy aircraft exists in the cell s at the time t = τ read from the enemy aircraft existence probability storage unit 52 and the presence of enemy aircraft attack bullets. Compared with the probability Pbj (τ, s) (j = 1,..., J) that the attack bullet of the enemy aircraft is present in the cell s at time t = τ read from the probability storage unit 53, the largest value Is output.

That is, Pei (τ, s) for all i = 1,..., I and Pbj (τ, s) for j = 1,. To do.
The subtraction unit 910 calculates a value obtained by subtracting the calculated max (Pei (τ, s), Pbj (τ, s)) from 1.
The accumulating unit 917 calculates Σ _w Psel (w, τ) · Σ _{s ′} {Ptrs (s, s ′, w) · Psr (τ + T, s ′)} calculated by the adding unit 916 and the subtracting unit 910. The product of 1−max (Pei (τ, s), Pbj (τ, s)) is obtained.

In this way, by multiplying by 1-max (Pei (τ, s), Pbj (τ, s)), the enemy aircraft or the enemy's attack bullet is present in the cell s at time t = τ. In this case, the probability Psr (τ, s) can be calculated assuming that the aircraft has been destroyed.
In this way, the second device existence probability calculation unit 91 calculates the probability Psr (τ, s) based on the probability Psr (τ + T, s).
The above processing is performed for all τ (τ = T,..., (N−1) T) in ascending order of τ, and the own aircraft may reach the target position (Xd, Yd) at time t = nT. If it has been determined, the probability that the aircraft at each time is present in the cell s is obtained, and it is finally determined that the aircraft will reach the target position (Xd, Yd) at time t = nT. If there is, the probability that the own device exists in the cell s at time t = T is obtained. These calculated probabilities are stored in the second own existence probability storage unit 54.

<Step 9>
The moving speed determination unit 11 determines the probability Psr (T, s0 ′) read from the second own device existence probability storage unit 54 among the cells s0 ′ that the own device at time t = 0 can reach at time t = T. ) Is determined so that the movement speed of the own device at time t = 0.
When the length of one side of the cell is set to a value obtained by multiplying the speed of the own device traveling in the direction parallel to the side by the action unit time T, the cell having the own device at time t = 0 exists. The cell adjacent to s0 or the cell s0 becomes the cell s0 ′ that the aircraft at time t = 0 can reach at time t = T.

The moving speed determination unit 11 selects a cell that makes the probability Psr (T, s0 ′) read out from the second own device existence probability storage unit 54 highest among the cells s0 ′. And the moving speed number w of the own machine which moves to this cell is determined. The movement speed determination unit 11 calculates the position after the action unit time T of the own machine that moves according to the movement speed (Vxs (w), Vys (w)) of the movement speed number w, and the The machine is output to the display unit 12.
By performing the processes of Step 1 to Step 9 for each behavior unit time T, the movement speed of the own device in each behavior unit step is determined. The above is the outline of the present embodiment.
In consideration of the ability of the computer at the time of filing, it is desirable that the search depth n in the search calculation is about 10-20. However, if the performance of the computer improves in the future, the search depth n can be made larger.

[Modification 1]
Instead of the second own device existence probability calculating unit 91 shown in FIG. 7, the second own device existence probability calculating unit 92 shown in FIGS. 8 and 9 may be used. FIGS. 8 and 9 are diagrams illustrating the functional configuration of the second own device existence probability calculation unit 92.
The functional configuration of the second own device existence probability calculation unit 92 shown in FIG. 8 is the same as the functional configuration of the second own device existence probability calculation unit 91 shown in FIG. The second own device existence probability calculation unit 92 is different from the second own device existence probability calculation unit 91 in that it has the functional configuration and processing shown in FIG. The second own aircraft presence probability calculation unit 92 corrects Psr (τ, s) obtained by the same process as the second own aircraft existence probability calculation unit 91 so that the enemy aircraft can be further destroyed. τ, s) is calculated.

The movement probability calculation unit 912, integration unit 913, addition unit 914, integration unit 915, addition unit 916, integration unit 917, maximum value extraction unit 919, and subtraction unit 910 of the second own device existence probability calculation unit 92 Since it is the same as the machine presence probability calculation unit 91, the description is omitted.
The ray determination unit 922 (FIG. 9) selects a cell sc existing on the ray of the own aircraft existing in the cell s. For example, when the subject fires an attack bullet in the upward direction of the screen, assuming that the coordinates of the square s are (X, Y), the coordinates are (Xc, Yc) (Xc = X, Yc> Y). The cell is the cell sc on the ray of the aircraft.
The adding unit 923 adds the existence probability Pei (τ, s) of the enemy aircraft existing in the cell sc. That is, _ΣscεsPei (τ, s) is calculated. Then, 1 is added to the calculated _ΣscεsPei (τ, s).
The accumulating unit 924 reads a predetermined constant b from the storage unit 10 and multiplies the calculated 1 + Σ _scεs Pei (τ, s).
The accumulating unit 925 multiplies Psr (τ, s) calculated by the accumulating unit 917 by the calculated b (1 + Σ _scεs Pei (τ, s)). As a result, it is possible to cause the aircraft to exist with a higher probability at a position where more enemy aircraft can be destroyed.
The accumulating unit 925 _{obtains the} probability b (1 + _ΣscεsPei (τ, s)) · Psr (τ, s) for all _cells s.
The adding unit 926 adds the probabilities b (1 + _ΣscεsPei (τ, s)) · Psr (τ, s) obtained by the integrating unit 925 for all the _cells s. _{That, Σ s b (1 + Σ} sc∈s Pei (τ, s)) · Psr (τ, s) is calculated.

Dividing unit 927, for each square s, Psr '(τ, s ) = {b (1 + Σ sc∈s Pei (τ, s)) · Psr (τ, s)} / {Σ s b (1 + Σ sc _{[Epsilon] sPei} ([tau], s)). Psr ([tau], s)} is calculated. The calculation result is Psr ′ (τ, s).
In this way, the adding unit 926 and the dividing unit 927 _normalize the probability b (1 + _ΣscεsPei (τ, s)) · Psr (τ, s) obtained by the accumulating unit 925 to obtain Σ _s Psr ′ ( τ, s) = 1.
Note that a maximum value extracting unit 923 ′ may be provided instead of the adding unit 923. The maximum value extraction unit 923 ′ calculates max _scεs Pei (τ, s). Then, a value obtained by adding 1 to this value is output to integrating section 924. Other processes are the same as those described above.

[Modification 2]
It is important that the position of your machine is always near the center of the game screen in order not to create a situation where the movement of your machine is restricted, such as the edge of the game screen, if an unexpected situation occurs in the future. is there.
Therefore, instead of the second own device existence probability calculating unit 91 shown in FIG. 7, the second own device existence probability calculating unit 93 shown in FIGS. 8 and 10 may be used. 8 and 10 are diagrams illustrating a functional configuration of the second own device existence probability calculation unit 93.
The functional configuration of the second own device existence probability calculating unit 93 shown in FIG. 8 is the same as the functional configuration of the second own device existence probability calculating unit 91 shown in FIG. The second own device existence probability calculation unit 93 is different from the second own device existence probability calculation unit 91 in that it has the functional configuration and processing shown in FIG. The second own device existence probability calculation unit 93 corrects Psr (τ, s) obtained by the same process as the second own device existence probability calculation unit 91 so that the own device is positioned at the center of the game screen. '' (Τ, s) is calculated.

The movement probability calculation unit 912, integration unit 913, addition unit 914, integration unit 915, addition unit 916, integration unit 917, maximum value extraction unit 919, and subtraction unit 910 of the second own device existence probability calculation unit 93 Since it is the same as the machine presence probability calculation unit 91, the description is omitted.
The distance calculation unit 932 (FIG. 10) calculates the distance r between the center of the game screen and the cell s where the own device exists.
The division unit 934 reads a predetermined constant d from the storage unit 10 and divides by the calculated r to obtain d / r.
The integrating unit 935 multiplies Psr (τ, s) calculated by the integrating unit 917 by the calculated d / r to obtain (d / r) · Psr (τ, s). In this way, by increasing the existence probability of the own device located at the center of the game screen, it is possible to control the own device to be located more at the center of the game screen.
The adding unit 926 and the dividing unit 927 normalize the corrected probability (d / r) · Psr (τ, s) in the same manner as described in the first modification to obtain the probability Psr ″ ( τ, s) is calculated.

Note that a function F (r) that outputs Az that takes a distance r as input instead of d / r and outputs Az that is larger as the square closer to the center of the screen and smaller as the square away from the center of the screen, for example, F (r) = exp (−r), F (r) = exp (−r ² ), F (r) = 1 / (1 + r ² ), F (r) = {a + exp (−r)} / (a + 1), F (r) The probability Psr (τ, s) may be corrected using = {a + exp (−r ² )} / (a + 1) and F (r) = {a + b ^ (− r ² )} / (a + 1). a and b are positive constants. exp is the power of the base of the natural logarithm. The symbol ^ represents a power. Here, a function that outputs a value that falls within the range of 0 to 1 is illustrated, but a value that falls within the range of 0 to k can be output by multiplying by an appropriate constant coefficient k. Further, the degree of distribution that becomes larger as the grid closer to the center of the screen becomes larger as the grid farther from the center of the screen becomes, for example, F (r) = exp (−r ² / c), where c is a positive constant. Adjustment is possible by appropriately setting the value. In addition, F (r) = {a + b × exp (−r)} / (a + 1), F (r) = {a + c × b ^ (− r ² )} / (a + 1), etc. are far from the center of the screen. Since it is asymptotic to a / (a + 1), by appropriately setting the value of a to a value other than 0, Psr (τ, s) of the cell s away from the center of the screen is virtually not wasted, or the screen Psr (τ, s) of the cell s away from the center can not be underestimated.

  Moreover, you may carry out combining the said modification 1 and the said modification 2. That is, Psr ′ (τ, s) obtained in the first modification is input to the integrating unit 935 in FIG. 10, and Psr ″ (τ, s) obtained in the second modification is shown in FIG. The probability Psr ′ in which Psr (τ, s) is corrected so that more enemy planes can be destroyed and the own plane is positioned at the center of the game screen can be destroyed '' (Τ, s) may be obtained to carry out the present invention.

[Modification 3]
In the above embodiment, the enemy aircraft existence probability calculation unit 42 uses the above equation (2) to determine the probability Pei (τ, se ′ (i) that the enemy aircraft at time t = τ exists in the cell se ′ (i). ), The probability Pei (τ + T, se (i)) that the enemy aircraft at time t = τ + T exists in the cell se (i) was obtained.
However, when the determination function of the moving speed a of the enemy aircraft i is described probabilistically by the enemy aircraft cell se ′ (i), the host aircraft cell s, and the time t, the enemy aircraft existence probability calculation unit In place of 42, the enemy aircraft existence probability calculation unit 43 changes to the above equation (2),
Pei (τ + T, se (i)) = Σ _s {Ps (τ, s) · Σ _{se ′ (i)} Σ _a {PAi (a , s, se ′ (i), τ) · Ptrii (se ′ (i ), Se (i), a) · Pei (τ, se ′ (i))}} (6)
The by calculating as shown in FIG. 12, 'probability Pei present in (i) (tau, se' enemy machine squares se at time t = tau based on (i)), at time t = τ + T probability Pei that enemy is present in the squares se (i) (τ + T , s e (i)) may be obtained.

Here, PAi (a, s, se ′ (i), τ) is a probability that the moving speed number a is selected based on the enemy aircraft cell se ′ (i), the host aircraft cell s, and time t. .
Further, the following expression Pei (τ + T, se (i)) = Σ _s Σ _{se ′ (i)} Σ _a {Ps (τ, s) · PAi (a , s , se ′) mathematically equivalent to the above-described expression (6). (I), τ) · Ptrei (se ′ (i), se (i), a) · Pei (τ, se ′ (i))} (6a)
Based on the, enemy aircraft at time t = τ + T is squares se 'probability exists in the (i) Pei (τ + T , se' (i)) may be obtained.
The above formulas (2) and (6) are calculation methods for the accurate existence probability at each position of the enemy aircraft considering the future movement of the enemy aircraft.

However, if the computer does not have sufficient speed and storage capacity, the enemy aircraft existence probability calculation unit 44 shown in FIG. 13 or the enemy aircraft existence probability calculation unit 45 shown in FIG. You may calculate based on it.
Pei (τ + T, se (i)) = Σse _{′ (i)} {Ptrei (se ′ (i), se (i), Ai (smax, se ′ (i), τ)) · Pei (τ, se ′ (I)) } (2 ')
Pei (τ + T, se ( i)) = Σ se '(i) Σ a {PAi (a, smax, se' (i), t-1) · Ptrei (se '(i), se (i), a ) · Pei (τ, se ′ (i)) } (6 ′)
The above equations (2 ′) and (6 ′) represent the existence of the own aircraft at time t = τ, instead of omitting the summation of the own cell s, instead of the function Ai and the function PAi referring to the cell s. This is a cell smax that maximizes the probability Ps (τ, s).

Further, the enemy aircraft existence probability calculation unit 46 shown in FIG. 15 or the enemy aircraft existence probability calculation unit 47 shown in FIG. 16 may perform calculation using the following simplified formula.
Pei (τ + T, se (i)) = Σse _{′ (i)} {Ptrei (se ′ (i), se (i), Ai (τ)) · Pei (τ, se ′ (i)) } (2 '')
Pei (τ + T, se (i)) = Σ _{se ′ (i)} Σ _a {PAi (a, t−1) · Ptrei
(Se ′ (i), se (i), a) · Pei (τ, se ′ (i)) } (6 ″) The above equation (2 ″), (6 ″) is the function Ai The function PAi depends only on the time t.

[Modification 4]
In the above embodiment, the lattice is fixed to the screen, and the position of the own device at t = zT is not always located at the center of the cell (z is an integer). Therefore, the lattice may be re-stretched so that the current position of the aircraft at t = zT is located at the center of the cell. When the length S of one side of the square is S = VT by re-grinding the lattice so that the current position of the aircraft at t = zT is positioned at the center of the square, Ptr (s ′, s, w ) Is always 0 or 1. This is because in such a case, the displacement amount of the position of the own machine in the x-axis direction and the y-axis direction matches the length of one side of the grid, so that the grid where the machine is located at the grid t = zT This is because the grid sds moved by the positional displacement amount (dxs, dys) does not deviate from the grid on the lattice and exactly overlaps.

As for other embodiments and modifications , the above-mentioned shooting game player's own operation control device / method can be realized by a computer. In this case, the contents of the self-motion control device / method of the shooting game are described by a program. Then, by executing this program on a computer such as that shown in FIG. 11, the processing functions of the own operation control device / method for the shooting game are realized on the computer.
The program describing the processing contents can be recorded on a computer-readable recording medium. As the computer-readable recording medium, for example, any recording medium such as a magnetic recording device, an optical disk, a magneto-optical recording medium, and a semiconductor memory may be used. Specifically, for example, as a magnetic recording device, a hard disk device, a flexible disk, a magnetic tape or the like, and as an optical disk, a DVD (Digital Versatile Disc), a DVD-RAM (Random Access Memory), a CD-ROM (Compact Disc Read Only). Memory), CD-R (Recordable) / RW (ReWritable), etc., magneto-optical recording medium, MO (Magneto-Optical disc), etc., semiconductor memory, EEP-ROM (Electronically Erasable and Programmable-Read Only Memory), etc. Can be used.

The program is distributed by selling, transferring, or lending a portable recording medium such as a DVD or CD-ROM in which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of the server computer and transferring the program from the server computer to another computer via a network.
A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing the process, the computer reads a program stored in its own recording medium and executes a process according to the read program. As another execution form of the program, the computer may directly read the program from a portable recording medium and execute processing according to the program, and the program is transferred from the server computer to the computer. Each time, the processing according to the received program may be executed sequentially. Also, the program is not transferred from the server computer to the computer, and the above-described processing is executed by a so-called ASP (Application Service Provider) type service that realizes the processing function only by the execution instruction and result acquisition. It is good. Note that the program in this embodiment includes information that is provided for processing by an electronic computer and that conforms to the program (data that is not a direct command to the computer but has a property that defines the processing of the computer).

In this embodiment, the self-motion control device / method for the shooting game is configured by executing a predetermined program on the computer. However, at least a part of these processing contents is realized by hardware. It is good to do.
In addition to the above-described embodiments, the self-motion control device / method for a shooting game according to the present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit of the present invention. is there.

The figure which illustrated the functional structure of the own-machine operation control apparatus of a shooting game. A schematic diagram of a shooting game. The figure which assists the description about calculation of existence probability. The figure which illustrated the functional composition of enemy aircraft existence probability calculation part 42. The figure which illustrated the functional composition of enemy machine attack bullet existence probability calculation part 44. The figure which illustrated the functional composition of the first self-device existence probability calculation part 41. The figure which illustrated the functional composition of the second self-device existence probability calculation part 91. The figure which illustrated the functional structure of the 2nd own machine presence probability calculation part 92,93. The figure which illustrated the functional composition of the 2nd self existence existence calculation part 92. The figure which illustrated the functional structure of the 2nd own machine presence probability calculation part 93. FIG. The figure which illustrated the functional structure in the case of performing the own-machine operation control apparatus and method of a shooting game with a computer. The figure which illustrated the functional composition of enemy aircraft existence probability calculation part 43. The figure which illustrated the functional composition of enemy machine existence probability calculation part 44. The figure which illustrated the functional composition of enemy aircraft existence probability calculation part 45. The figure which illustrated the functional composition of enemy aircraft existence probability calculation part 46. The figure which illustrated the functional composition of enemy aircraft existence probability calculation part 47. The figure which assists the description about calculation of existence probability.

Claims (13)

A computer comprising first existence probability calculation means, own apparatus target position determination means, second own apparatus existence probability calculation means, and movement speed determination means is a method for performing own apparatus operation control of a shooting game,
The time t at which the aircraft starts moving at the selected moving speed is set to t = 0,
The first existence probability calculation means exists in each cell s constituting the lattice dividing the game screen without being destroyed by the enemy aircraft and the enemy bullets at t = nT (n is an arbitrary natural number). A first existence probability calculation step of obtaining a probability Ps (nT, s) and storing the probability Ps (nT, s) in the first device existence probability storage means;
The probability Ps (nT, nT, n) that the target position determination unit is not destroyed by the enemy aircraft and the attacking bullet of the enemy aircraft at t = nT, which is read by the own target position determination unit from the first own existence probability storage unit. s), selecting the cell having the highest probability, and determining the target position of the aircraft as a target position;
The second ship existence probability calculation unit, when the own apparatus at time t = nT is to reach the target position, the probability own apparatus at time t = T is present in each square s Psr (T, s) And calculating the second own machine existence probability storing in the second own machine existence probability storage means ,
The moving speed determining means uses the probability Psr (T, s0 ′) read from the second own existence probability storage means among the cells s0 ′ that the own apparatus at time t = 0 can reach at time t = T. A moving speed determining step for determining the moving speed of the own device at time t = 0 so as to move to the highest cell.
I have a,
The first existence probability calculation step includes:
The initial existence probability calculation means of the enemy aircraft obtains the probability Pei (0, s) that the enemy aircraft at time t = 0 exists in each cell s, and stores it in the enemy aircraft existence probability storage means. An existence probability calculation step;
The enemy aircraft attack bullet initial existence probability calculation means obtains the probability Pbj (0, s) that the enemy aircraft attack bullet at time t = 0 exists in each cell s, and the enemy aircraft attack bullet existence probability storage means. The initial existence probability calculation step of enemy aircraft attack bullets stored in
The initial existence probability calculation means of the own device obtains a probability Ps (0, s) that the own device at time t = 0 exists in each cell s constituting the lattice in the game screen divided into the lattice. , The initial existence probability calculation step of the own device stored in the first existence probability storage means,
The enemy aircraft existence probability calculating means calculates the probability Pei (τ, se ′ (i)) that the enemy aircraft exists in the cell se ′ (i) at the time t = τ, and the time t = τ and the cell se ′ (i). The enemy aircraft moves from the cell se ′ (i) to the cell se (i) by moving for the action unit time T according to the movement speed a determined based on the movement speed determination function that determines the movement speed according to the position of the cell s. And the probability that the aircraft is present in the cell s at time t = τ is obtained for each set of all cells se ′ and cell s, and these obtained products are added to obtain a time t = The probability Pei (τ + T, se (i)) that an enemy aircraft exists in the cell se (i) at τ + T is obtained for all τ = kT (k is a natural number less than n−1), and the enemy aircraft existence probability storage means The enemy aircraft existence probability calculation step stored in
The enemy aircraft attack bullet presence probability calculating means determines the probability Pbj (τ, s ′) that the enemy's attack bullet is present in the cell s ′ at time t = τ and the enemy unit's attack bullet according to the movement speed Vbj. The product of the probability of moving from the cell s ′ to the cell s by moving by T is obtained for every cell s ′, and by adding these obtained products, the attack bullet of the enemy aircraft at time t = τ + T The probability Pbj (τ + T, s) existing in the cell s is obtained for all pairs of cells s and τ = kT (k is a natural number equal to or less than n−1) and stored in the enemy aircraft attack bullet existence probability storage means. Enemy aircraft attack bullet existence probability calculation step,
The maximum value extraction means, for every set of τ + T and cell s, the probability Pei (τ + T, s) that the enemy aircraft exists in cell s at time t = τ + T read from the enemy aircraft existence probability storage means, and the above The maximum value that outputs the highest probability by comparing the magnitude relationship with the probability Pbj (τ + T, s) that the enemy bullet is present in the cell s at the time t = τ + T read from the enemy aircraft bullet presence probability storage means An extraction step;
The first own device existence probability calculation means determines that the own device exists in the cell s ′ at time t = τ, the probability Ps (τ, s ′), the probability that the own device selects the moving speed w, and the own device moves. The product of the probability Ptr (s ′, s, w) of moving from the cell s ′ to the cell s by moving by the action unit time T according to the speed w is a set of all the cells s ′ and the movement speed w of the own aircraft. By multiplying the value obtained by adding each of the obtained products and the value obtained by subtracting from 1 the probability that the maximum value extraction means has output for the set of τ + T and the grid s, the own device at time t = τ + T The probability Ps (τ + T, s) existing in the cell s without being destroyed by the enemy aircraft and the enemy's attacking bullet is determined for all the cells s and τ = kT (k is a natural number less than n−1). First own existence probability calculation step stored in the first own existence probability storage means And,
Consisting of
The second aircraft existence probability calculation step
The second ship existence probability calculation unit, own apparatus at time t = nT is own apparatus at time t = τ + T when the reaching the target position squares s 'probability present in Psr (τ + T, s' ) And the probability that the own device selects the moving speed w, and the probability Ptr (s, s ′, w) that the own device moves from the cell s to the cell s ′ by moving for the action unit time T according to the moving speed w. Is obtained for each set of all the cells s ′ and the moving speed w of the own machine, and the probability obtained by the maximum value extraction means for the set of T and the cell s is added to a value obtained by adding these products. by multiplying the value obtained by subtracting from, in the own device is not destroyed by the own apparatus attack bomb enemy planes and enemy aircraft at time t = tau when the reaching the target position at time t = nT squares s The probability Psr (t, s) existing in s and τ = mT (m is n-1 following a natural number) are determined for the set of the second ship existence probability calculating step of storing the second ship existence probability memory means,
Is,
A self-motion control method of a shooting game characterized by the above. In the own game operation control method of the shooting game according to claim 1,
The enemy aircraft existence probability calculation step
The enemy aircraft existence probability calculating means calculates the probability Pei (τ, se ′ (i)) that the enemy aircraft exists in the cell se ′ (i) at the time t = τ, and the time t = τ and the cell se ′ (i). The probability that the enemy aircraft selects the moving speed a based on the moving speed determination function that determines the moving speed according to the position of the cell s, and the enemy aircraft moving by the action unit time T according to the moving speed a will result in the cell se ′ (i ) To the cell se (i) and the product of the probability that the aircraft exists in the cell s at time t = τ for each set of the moving speed a, the cell se ′, and the cell s. By adding these obtained products, the probability Pei (τ + T, se (i)) that an enemy aircraft is present in the cell se (i) at time t = τ + T is calculated as all τ = kT (k is n−1 or less). Natural number) and store it in the enemy aircraft existence probability storage means. Tsu is a flop,
A self-motion control method of a shooting game characterized by the above. In the own game operation control method of the shooting game according to claim 1,
The enemy aircraft existence probability calculation step
The enemy aircraft existence probability calculating means calculates the probability Pei (τ, se ′ (i)) that the enemy aircraft exists in the cell se ′ (i) at the time t = τ, and the time t = τ and the cell se ′ (i). The enemy aircraft moves by the action unit time T according to the movement speed a determined based on the movement speed determination function that determines the movement speed according to the position of the cell s that exists with the highest probability. ) To the cell se (i) and the product of the existence probability for the cell s at time t = τ for each cell se ′, and adding these obtained products, The probability Pei (τ + T, se (i)) that an enemy aircraft exists in the cell se (i) at time t = τ + T is obtained for all τ = kT (k is a natural number of n−1 or less), and the enemy aircraft exists. In the enemy aircraft existence probability calculation step stored in the probability storage means That,
A self-motion control method of a shooting game characterized by the above. In the own game operation control method of the shooting game according to claim 1,
The enemy aircraft existence probability calculation step
The enemy aircraft existence probability calculating means calculates the probability Pei (τ, se ′ (i)) that the enemy aircraft exists in the cell se ′ (i) at the time t = τ, and the time t = τ and the cell se ′ (i). The probability that the enemy aircraft will select the moving speed a based on the moving speed determination function that determines the moving speed according to the position of the cell s that has the highest probability of the own aircraft, and the enemy aircraft only for the action unit time T according to the moving speed a The product of the probability of moving from the cell se ′ (i) to the cell se (i) by the movement and the probability that the own aircraft is in the cell s at time t = τ is the product of all the moving speeds a and the cell se ′. And the probability Pei (τ + T, se (i)) that an enemy aircraft exists in the cell se (i) at time t = τ + T is obtained for all τ = kT ( k is a natural number less than n-1) A step of storing the 憶 means,
A self-motion control method of a shooting game characterized by the above. In the own game operation control method of the shooting game according to claim 1,
The enemy aircraft existence probability calculation step
The enemy aircraft existence probability calculation means determines the movement speed based on the probability Pei (τ, se ′ (i)) that the enemy aircraft exists in the cell se ′ (i) at time t = τ and the time t = τ. The probability that the enemy aircraft moves from the cell se ′ (i) to the cell se (i) by moving for the action unit time T according to the moving speed a determined based on the determination function, and the own aircraft at time t = τ. The product of the existence probability in the cell s is obtained for every cell se ′, and by adding these obtained products, the probability Pei (τ + T, T) that the enemy aircraft exists in the cell se (i) at time t = τ + T. se (i)) is calculated for all τ = kT (k is a natural number equal to or less than n−1), and is stored in the enemy aircraft existence probability storage means.
A self-motion control method of a shooting game characterized by the above. In the own game operation control method of the shooting game according to claim 1,
The enemy aircraft existence probability calculation step
The enemy aircraft existence probability calculation means determines the movement speed based on the probability Pei (τ, se ′ (i)) that the enemy aircraft exists in the cell se ′ (i) at time t = τ and the time t = τ. The probability that the enemy aircraft selects the moving speed a based on the decision function, and the probability that the enemy aircraft moves from the cell se ′ (i) to the cell se (i) by moving for the action unit time T according to the moving speed a. At time t = τ + T, the product of the probability that the aircraft exists in the cell s at time t = τ is obtained for each set of all moving speeds a and cell se ′, and the obtained products are added. The probability Pei (τ + T, se (i)) that an enemy aircraft exists in the cell se (i) is obtained for all τ = kT (k is a natural number less than n−1) and stored in the enemy aircraft existence probability storage means. Is the step to
A self-motion control method of a shooting game characterized by the above. A method for controlling the own operation of a shooting game according to claim 1,
The second aircraft existence probability calculation step
An adding step in which the adding means adds the existence probability Pei (t, se (i)) of the enemy aircraft existing in the cell se (i) on the ray of the own aircraft read out from the enemy aircraft existence probability storage means; ,
The first multiplication means multiplies the probability Psr (t, s) obtained for each set of all the cells s and time t by a value proportional to the value obtained by adding 1 to the addition value obtained in the addition step. A first multiplication step;
The normalizing means divides the value obtained in the first multiplication step by the value obtained by adding the values obtained in the multiplication step for all the cells s at time t, thereby calculating the probability Psr (t, s ) To normalize and store in the second aircraft presence probability storage means;
Further having
A self-motion control method of a shooting game characterized by the above. A self-machine operation control method for a shooting game according to claim 1,
The second aircraft existence probability calculation step
The second multiplication means sets a value inversely proportional to the distance between the center of the screen and the own aircraft existing in the cell s to the probability Psr (t, s) obtained for each set of the cells s and time t. A second multiplication step to multiply;
The normalizing means divides the value obtained in the second multiplication step by the value obtained by adding the values obtained in the second multiplication step for all the cells s at time t, thereby calculating the probability Psr (t , S) is normalized, and stored in the second own device existence probability storage means;
Further having
A self-motion control method of a shooting game characterized by the above. A self-machine operation control method for a shooting game according to claim 1,
The length of one side of each square dividing the above game screen is one third of the sum of the diameter of the circle inscribed in the shape of its own aircraft and the diameter of the circle inscribed in the shape of the attacking bullet of the enemy aircraft. Is
A self-motion control method of a shooting game characterized by the above. A self-machine operation control method for a shooting game according to claim 1,
The length of one side of each square that divides the game screen is obtained by multiplying the speed of one's own machine traveling in a direction parallel to the side by the action unit time T.
A self-motion control method of a shooting game characterized by the above. The time t at which the aircraft starts moving at the selected moving speed is set to t = 0,
The first aircraft existence probability storage means,
Second own aircraft existence probability storage means;
At t = nT (n is an arbitrary natural number), the probability Ps (nT, s) that exists in each cell s constituting the grid dividing the game screen without being destroyed by the enemy aircraft and the attacking bullets of the enemy aircraft. Obtaining the first existence probability calculating means for storing in the first own existence probability storage means;
Of the probabilities Ps (nT, s) that are read from the first own machine existence probability storage means and are not destroyed by the enemy aircraft and the enemy's attack bullet at t = nT, The own target position determining means for selecting the cell to be the highest and setting the cell as the target position;
When the own apparatus at time t = nT is to reach the target position, the probability Psr (T, s) the own apparatus is present in each square s at time t = T to calculate the second ship there A second own existence probability calculation means for storing in the probability storage means ;
Among the cells s0 ′ that can be reached at time t = T, the device at time t = 0 moves to the cell that has the highest probability Psr (T, s0 ′) read from the second device existence probability storage means. A moving speed determining means for determining the moving speed of the aircraft at time t = 0,
I have a,
The first existence probability calculation means includes:
An enemy aircraft initial existence probability calculating means for determining the probability Pei (0, s) that the enemy aircraft at time t = 0 exists in each cell s, and storing the probability Pei (0, s) in the enemy aircraft existence probability storage means;
The probability Pbj (0, s) that an enemy aircraft's attack bullet at time t = 0 is present in each cell s is obtained, and the enemy aircraft's initial attack probability calculation stored in the enemy aircraft's attack bullet presence probability storage means is calculated. Means,
The own machine at time t = 0 obtains the probability Ps (0, s) existing in each cell s constituting the lattice in the game screen divided into lattices, and stores it in the first existence probability storage means. Your own aircraft's initial existence probability calculation means,
The probability Pei (τ, se ′ (i)) that an enemy aircraft exists in the cell se ′ (i) at time t = τ, and the moving speed according to the position of the time t = τ, the cell se ′ (i), and the cell s. The probability that the enemy aircraft moves from the cell se ′ (i) to the cell se (i) by moving the enemy aircraft according to the movement speed a determined based on the moving speed determination function to be determined, and the time t = τ. At the time t = τ + T, the enemy aircraft is determined to obtain the product of the probability that the own aircraft is present in the cell s for each set of all the cells se ′ and the cell s. The probability Pei (τ + T, se (i)) existing in i) is calculated for all τ = kT (k is a natural number equal to or less than n−1) and stored in the enemy aircraft existence probability storage means. Means,
The probability Pbj (τ, s ′) that an enemy aircraft's attack bullet is present in the cell s ′ at time t = τ and the enemy aircraft's attack bullet move from the cell s ′ by moving for the action unit time T according to the moving speed Vbj. The product of the probability of moving to the cell s is obtained for every cell s ′, and by adding these obtained products, the probability Pbj (τ + T) that an enemy bullet is present in the cell s at time t = τ + T. , S) for all sets of squares s and τ = kT (k is a natural number equal to or less than n−1) and stored in the enemy aircraft attack bullet existence probability storage means,
The probability Pei (τ + T, s) that the enemy aircraft exists in the mesh s at the time t = τ + T read from the enemy aircraft existence probability storage means for every set of τ + T and the mesh s, and the enemy aircraft attack bullet existence probability A maximum value extracting means for comparing the magnitude relationship with the probability Pbj (τ + T, s) that the attacking bullet of the enemy aircraft is present in the cell s at time t = τ + T read from the storage means, and outputting the highest probability;
The probability Ps (τ, s ′) that the own device exists in the cell s ′ at the time t = τ, the probability that the own device selects the moving speed w, and the own device moves by the action unit time T according to the moving speed w. Accordingly, the product of the probability Ptr (s ′, s, w) of moving from the cell s ′ to the cell s is obtained for each set of all the cells s ′ and the moving speed w of the own aircraft, and the obtained products are added. Is multiplied by a value obtained by subtracting from 1 the probability output by the maximum value extraction means for the set of τ + T and the square s from the above value, so that at time t = τ + T The probability Ps (τ + T, s) existing in the cell s without being obtained is obtained for all pairs of cells s and τ = kT (k is a natural number of n−1 or less) and stored in the first own device existence probability storage means. The first own aircraft existence probability calculation means,
Consisting of
The second own existence probability calculation means is:
When the aircraft arrives at the target position at time t = nT, the probability Psr (τ + T, s ′) that the aircraft exists in the cell s ′ at time t = τ + T and the movement speed w are selected by the aircraft. The product of the probability and the probability Ptr (s, s ′, w) that the aircraft moves from the cell s to the cell s ′ by moving for the action unit time T according to the moving speed w is calculated as the product of all cells s ′ The value obtained by subtracting the probability obtained by the maximum value extracting means for the set of T and the square s from the value obtained by obtaining for each set of the moving speed w of the machine and adding the obtained products to the time When it is assumed that the aircraft reaches the target position at t = nT, the probability Psr (t, s) that the aircraft is not destroyed by the enemy aircraft and the enemy's attack bullet at time t = τ is All cells s and τ = mT (m is n-1 or less Second natural machine existence probability calculating means for obtaining the second natural machine existence probability storing means,
Self-riot operation control unit of the shooter, characterized in that it is.   The time t at which the aircraft starts moving at the selected moving speed is set to t = 0,
  The first existence probability calculation means exists in each cell s constituting the lattice dividing the game screen without being destroyed by the enemy aircraft and the enemy bullets at t = nT (n is an arbitrary natural number). A first existence probability calculation step of obtaining a probability Ps (nT, s) and storing the probability Ps (nT, s) in the first device existence probability storage means;
  The probability Ps (nT, nT, n) that the target position determination unit is not destroyed by the enemy aircraft and the attacking bullet of the enemy aircraft at t = nT, which is read by the own target position determination unit from the first own existence probability storage unit. s), selecting the cell having the highest probability, and determining the target position of the aircraft as a target position;
  When the second own device existence probability calculating means determines that the own device reaches the target position at time t = nT, the probability Psr (T, s) that the own device exists in each cell s at time t = T is calculated. A second own device existence probability calculating step for calculating and storing the second own device existence probability storage means;
  The moving speed determining means uses the probability Psr (T, s0 ′) read from the second own existence probability storage means among the cells s0 ′ that the own apparatus at time t = 0 can reach at time t = T. A moving speed determining step for determining the moving speed of the own device at time t = 0 so as to move to the highest cell.
  A shooting game processing program for causing a computer to execute
  The first existence probability calculation step includes:
  The initial existence probability calculation means of the enemy aircraft obtains the probability Pei (0, s) that the enemy aircraft at time t = 0 exists in each cell s, and stores it in the enemy aircraft existence probability storage means. An existence probability calculation step;
  The enemy aircraft attack bullet initial existence probability calculation means obtains the probability Pbj (0, s) that the enemy aircraft attack bullet at time t = 0 exists in each cell s, and the enemy aircraft attack bullet existence probability storage means. The initial existence probability calculation step of enemy aircraft attack bullets stored in
  The initial existence probability calculation means of the own device obtains a probability Ps (0, s) that the own device at time t = 0 exists in each cell s constituting the lattice in the game screen divided into the lattice. , The initial existence probability calculation step of the own device stored in the first existence probability storage means,
  The enemy aircraft existence probability calculating means calculates the probability Pei (τ, se ′ (i)) that the enemy aircraft exists in the cell se ′ (i) at the time t = τ, and the time t = τ and the cell se ′ (i). Depending on the position of the cell s
The enemy aircraft moves from the cell se ′ (i) to the cell se (i) by moving the enemy aircraft for the action unit time T according to the moving speed a determined based on the moving speed determination function.
And the probability that the aircraft is present in the cell s at time t = τ is obtained for each set of all cells se ′ and cell s, and these obtained products are added to obtain a time t = The probability Pei (τ + T, se (i)) that an enemy aircraft exists in the cell se (i) at τ + T is obtained for all τ = kT (k is a natural number less than n−1), and the enemy aircraft existence probability storage means The enemy aircraft existence probability calculation step stored in
  The enemy aircraft attack bullet presence probability calculating means determines the probability Pbj (τ, s ′) that the enemy's attack bullet is present in the cell s ′ at time t = τ and the enemy unit's attack bullet according to the movement speed Vbj. The product of the probability of moving from the cell s ′ to the cell s by moving by T is obtained for every cell s ′, and by adding these obtained products, the attack bullet of the enemy aircraft at time t = τ + T The probability Pbj (τ + T, s) existing in the cell s is obtained for all pairs of cells s and τ = kT (k is a natural number equal to or less than n−1) and stored in the enemy aircraft attack bullet existence probability storage means. Enemy aircraft attack bullet existence probability calculation step,
  The maximum value extraction means, for every set of τ + T and cell s, the probability Pei (τ + T, s) that the enemy aircraft exists in cell s at time t = τ + T read from the enemy aircraft existence probability storage means, and the above The maximum value that outputs the highest probability by comparing the magnitude relationship with the probability Pbj (τ + T, s) that the enemy bullet is present in the cell s at the time t = τ + T read from the enemy aircraft bullet presence probability storage means An extraction step;
  The first own device existence probability calculation means determines that the own device exists in the cell s ′ at time t = τ, the probability Ps (τ, s ′), the probability that the own device selects the moving speed w, and the own device moves. The product of the probability Ptr (s ′, s, w) of moving from the cell s ′ to the cell s by moving by the action unit time T according to the speed w is a set of all the cells s ′ and the movement speed w of the own aircraft. By multiplying the value obtained by adding each of the obtained products and the value obtained by subtracting from 1 the probability that the maximum value extraction means has output for the set of τ + T and the grid s, the own device at time t = τ + T The probability Ps (τ + T, s) existing in the cell s without being destroyed by the enemy aircraft and the enemy's attacking bullet is determined for all the cells s and τ = kT (k is a natural number less than n−1). First own machine existence probability calculation stored in the first own machine existence probability storage means And the step,
  Consisting of
  The second aircraft existence probability calculation step
  When the second own machine existence probability calculating means assumes that the own machine reaches the target position at time t = nT, the probability Psr (τ + T, s ′) that the own machine exists in the cell s ′ at time t = τ + T The probability that the own device selects the moving speed w and the probability Ptr (s, s ′, w) that the own device moves from the cell s to the cell s ′ by moving for the action unit time T according to the moving speed w. The product is obtained for each set of all the cells s ′ and the moving speed w of the own machine, and the probability obtained by the maximum value extraction means for the set of T and the cell s from the value obtained by adding these obtained products from 1 By multiplying the subtracted value, if the aircraft arrives at the target position at time t = nT, the aircraft will not be destroyed by the enemy aircraft and the enemy's attack bullet at time t = τ. Probability Psr (t, s) (The m n-1 following a natural number) of the square s and tau = mT asking for the set of the second ship existence probability calculating step of storing the second ship existence probability memory means,
  A shooting game processing program characterized by   A computer-readable recording medium on which the shooting game processing program according to claim 12 is recorded.

Images