Model predictive driving simulator motion cueing algorithm with actuator-based constraints

The lag existing between the command and the resulting cockpit motion in a motion-based simulator, commonly referred to as “transport delay”, is actually the sum of a fixed delay and a frequency-dependent phase delay. A measurement procedure for the identification of the overall transfer function of a motion system is first presented, then it is used to design a proportional integral derivative (PID) compensator to reduce the apparent simulator lag in usual driving maneuvers. This procedure is carried out on RENAULT’s ULTIMATE high-performance driving simulator. For the reference driving task considered (slalom driving), this PID corrector is shown to bring a 100–200 ms reduction of the phase delay, which is quite perceivable and preferred by test drivers.

Download Full-text

A genetic algorithm–based nonlinear scaling method for optimal motion cueing algorithm in driving simulator

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651818772940 ◽

2018 ◽

Vol 232 (8) ◽

pp. 1025-1038 ◽

Cited By ~ 14

Author(s):

Houshyar Asadi ◽

Chee Peng Lim ◽

Arash Mohammadi ◽

Shady Mohamed ◽

Saeid Nahavandi ◽

...

Keyword(s):

Genetic Algorithm ◽

Driving Simulator ◽

Linear Acceleration ◽

Linear Quadratic Regulator ◽

Linear Quadratic ◽

Optimal Motion ◽

Scaling Method ◽

Motion Cueing ◽

Physical Limitations ◽

Simulator Motion

A motion cueing algorithm plays an important role in generating motion cues in driving simulators. The motion cueing algorithm is used to transform the linear acceleration and angular velocity of a vehicle into the translational and rotational motions of a simulator within its physical limitation through washout filters. Indeed, scaling and limiting should be used along within the washout filter to decrease the amplitude of the translational and rotational motion signals uniformly across all frequencies through the motion cueing algorithm. This is to decrease the effects of the workspace limitations in the simulator motion reproduction and improve the realism of movement sensation. A nonlinear scaling method based on the genetic algorithm for the motion cueing algorithm is developed in this study. The aim is to accurately produce motions with a high degree of fidelity and use the platform more efficiently without violating its physical limitations. To successfully achieve this aim, a third-order polynomial scaling method based on the genetic algorithm is formulated, tuned, and implemented for the linear quadratic regulator–based optimal motion cueing algorithm. A number of factors, which include the sensation error between the real and simulator drivers, the simulator’s physical limitations, and the sensation signal shape-following criteria, are considered in optimizing the proposed nonlinear scaling method. The results show that the proposed method not only is able to overcome problems pertaining to selecting nonlinear scaling parameters based on trial-and-error and inefficient usage of the platform workspace, but also to reduce the sensation error between the simulator and real drivers, while satisfying the constraints imposed by the platform boundaries.

Download Full-text

6-DOF Motion System of Amphibious Vehicle Driving Simulator Motion Parameter Design Research

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.460-461.704 ◽

2011 ◽

Vol 460-461 ◽

pp. 704-709

Author(s):

Shu Tao Zheng ◽

Zheng Mao Ye ◽

Jun Jin ◽

Jun Wei Han

Keyword(s):

Design Research ◽

Driving Simulator ◽

Motion Parameter ◽

Driving Simulators ◽

Motion System ◽

Vehicle Acceleration ◽

Vehicle Driving Simulator ◽

Simulator Motion ◽

Result Analysis ◽

The Relationship

Vehicle driving simulators are widely employed in training and entertainment utilities because of its safe, economic and efficient. Amphibious vehicle driving simulator was used to simulate amphibious vehicle on land and in water. Because of the motion difference between aircraft and amphibious vehicle, it is necessary to design a reasonable 6-DOF motion system according to the flight simulator motion system standard and vehicle motion parameter. FFT of DSP and PSD were used to analysis the relationship between them. Finally according to the result analysis, a set of reasonable 6-DOF motion system motion parameter was given to realize the driving simulator motion cueing used to reproduce vehicle acceleration.

Download Full-text

Preparation of a Virtual Proving Ground for Construction Equipment Simulation

Volume 2: 24th Design Automation Conference ◽

10.1115/detc98/dac-5614 ◽

1998 ◽

Author(s):

Peter Grant ◽

Jeffrey S. Freeman ◽

Rob Vail ◽

Frank Huck

Keyword(s):

Phase I ◽

Driving Simulator ◽

Construction Equipment ◽

Machine Model ◽

Data Set ◽

Wheel Loader ◽

Time Dynamics ◽

Motion System ◽

Acceleration Time Histories ◽

Simulator Motion

Abstract A multi-phased evaluation of the Iowa Driving Simulator as a virtual proving ground for construction equipment simulation is presented. In Phase I the Iowa Driving Simulator was evaluated in an “open-loop” mode to assess its capability to simulate a typical maneuver common to wheel loader operation, and its viability as a test platform for human subject evaluation of those maneuvers. A typical wheel loader truck loading cycle involves numerous directional shifts. Cycle productivity is increased if these shifts are executed at full engine throttle. Jerk and acceleration levels associated with full throttle shifts, however, can cause both operator discomfort and spillage of loaded material. Electronically controlled transmissions have the potential to both minimize directional shift times and material loss while optimizing operator comfort. This optimization will require an understanding of the factors which affect operator comfort during shifts. A study was therefore devised to determine those aspects of the motion generated by a directional shift which affect operator comfort. The Iowa Driving Simulator motion system was used to present operators with a series of acceleration time histories which are representative of various shift strategies. The operators rated the relative comfort of each strategy during paired comparison tests. Limitations of the simulator motion system prevented definitive results from being drawn; however, results did confirm shift comfort criteria previously established by the machine manufacturer. Success of the Phase I effort was sufficient to warrant a more in-depth study. In Phase II a complete VPG environment for wheel loader operation on the IDS was developed and qualitatively evaluated. This VPG environment included a visual model of a mine pit, developed for Caterpillar, Inc. by engineers at its National Center for Supercomputing Applications office, combined with the immersive motion capability of the Iowa Driving Simulator. A real-time dynamics model of a generic wheel loader along with a menu driven interface to the data set used to simulate a particular wheel loader were developed at Center for Computer Aided Design. This combination of programs allows changes to the design of a loader to be rapidly evaluated within a virtual proving ground environment or off-line at an engineering workstation. The machine model was then combined with an implement/soil interaction model, also developed at Caterpillar’s National Center for Supercomputing Applications office. The resulting machine model can be evaluated either off-line at a workstation or driven in response to operator input within the Iowa Driving Simulator virtual proving ground environment. A comparison of the offline model’s predictions of machine response to swept-sinewave steering input is shown to compare favorably with measured performance of the actual machine.

Download Full-text

Influence of a new discrete-time LQR-based motion cueing on driving simulator

Optimal Control Applications and Methods ◽

10.1002/oca.2081 ◽

2013 ◽

Vol 35 (4) ◽

pp. 454-467 ◽

Cited By ~ 3

Author(s):

B. Aykent ◽

F. Merienne ◽

D. Paillot ◽

A. Kemeny

Keyword(s):

Discrete Time ◽

Driving Simulator ◽

Motion Cueing

Download Full-text

Enhancing motion cueing using an optimisation technique

The Aeronautical Journal ◽

10.1017/aer.2017.141 ◽

2018 ◽

Vol 122 (1249) ◽

pp. 487-518 ◽

Cited By ~ 2

Author(s):

M. Jones

Keyword(s):

Test Cases ◽

Motion Platform ◽

Tuning Method ◽

Virtual Engineering ◽

Motion Cueing ◽

Subjective Opinion ◽

Simulated Test ◽

Tuning Process ◽

Simulator Motion ◽

Optimisation Technique

ABSTRACTVirtual engineering tools are not currently employed extensively during the certification and commissioning of flight simulator motion systems. Subjective opinion is regarded as sufficient for most applications, as it provides verification that the motion platform does not cause false cueing. However, the results of this practice are systems that may be far from optimal for their specific purpose. This paper presents a new method for tuning motion systems objectively using a novel tuning process and tools which can be applied throughout the simulators life-cycle. The use of the tuning method is shown for a number of simulated test cases.

Download Full-text

Nonvestibular Motion Cueing in a Fixed-Base Driving Simulator: Effects on Driver Braking and Cornering Performance

Presence Teleoperators & Virtual Environments ◽

10.1162/pres_a_00039 ◽

2011 ◽

Vol 20 (2) ◽

pp. 117-142 ◽

Cited By ~ 13

Author(s):

S. de Groot ◽

M. Mulder ◽

P. A. Wieringa

Keyword(s):

Driving Simulator ◽

Low Cost ◽

Seat Belt ◽

Steering Wheel ◽

Braking Performance ◽

Driver Performance ◽

Driving Speed ◽

Motion Cueing ◽

Fixed Base ◽

Lane Keeping

Motion platforms can be used to provide vestibular cues in a driving simulator, and have been shown to reduce driving speed and acceleration. However, motion platforms are expensive devices, and alternatives for providing motion cues need to be investigated. In independent experiments, the following eight low-cost nonvestibular motion cueing systems were tested by comparing driver performance to control groups driving with the cueing system disengaged: (1) seat belt tensioning system, (2) vibrating steering wheel, (3) motion seat, (4) screeching tire sound, (5) beeping sound, (6) road noise, (7) vibrating seat, and (8) pressure seat. The results showed that these systems are beneficial in reducing speed and acceleration and that they improve lane-keeping and/or stopping accuracy. The seat belt tensioning system had a particularly large influence on driver braking performance. This system reduced driving speed, increased stopping distance, reduced maximum deceleration, and increased stopping accuracy. It is concluded that low-cost nonvestibular motion cueing may be a welcome alternative for improving in-simulator performance so that it better matches real-world driving performance.

Download Full-text

The Role of a Novel Discrete-Time MRAC Based Motion Cueing on Loss of Control at a Hexapod Driving Simulator

Intelligent Control and Automation ◽

10.4236/ica.2015.61010 ◽

2015 ◽

Vol 06 (01) ◽

pp. 84-102 ◽

Cited By ~ 1

Author(s):

B. Aykent ◽

D. Paillot ◽

F. Merienne ◽

C. Guillet ◽

A. Kemeny

Keyword(s):

Discrete Time ◽

Driving Simulator ◽

Loss Of Control ◽

Motion Cueing

Download Full-text

Evaluation of Vehicle Ride Height Adjustments Using a Driving Simulator

Vehicles ◽

10.3390/vehicles2030027 ◽

2020 ◽

Vol 2 (3) ◽

pp. 491-506

Author(s):

Ehsan Sadraei ◽

Richard Romano ◽

Samantha Jamson ◽

Gustav Markkula ◽

Andrew Tomlinson ◽

...

Keyword(s):

Performance Metrics ◽

Driving Simulator ◽

Steering Control ◽

Motion Platform ◽

Ride Height ◽

Control Effort ◽

Handling Qualities ◽

Air Suspension ◽

Simulator Motion ◽

Alternative Designs

Testing of vehicle design properties by car manufacturers is primarily performed on-road and is resource-intensive, involving costly physical prototypes and large time durations between evaluations of alternative designs. In this paper, the applicability of driving simulators for the virtual assessment of ride, steering and handling qualities was studied by manipulating vehicle air suspension ride height (RH) (ground clearance) and simulator motion platform (MP) workspace size. The evaluation was carried out on a high-friction normal road, routinely used for testing vehicle prototypes, modelled in a driving simulator, and using professional drivers. The results showed the differences between the RHs were subjectively distinguishable by the drivers in many of the vehicle attributes. Drivers found standard and low RHs more appropriate for the vehicle in terms of the steering and handling qualities, where their performance was deteriorated, such that the steering control effort was the highest in low RH. This indicated inconsistency between subjective preferences and objective performance and the need for alternative performance metrics to be defined for expert drivers. Moreover, an improvement in drivers’ performance was observed, with a reduction of steering control effort, in larger MP configurations.

Download Full-text