Importance of Introducing Motion Cues in a Driving Simulator

MPC-Based Motion-Cueing Algorithm for a 6-DOF Driving Simulator with Actuator Constraints

Vehicles ◽

10.3390/vehicles2040036 ◽

2020 ◽

Vol 2 (4) ◽

pp. 625-647

Author(s):

Yash Raj Khusro ◽

Yanggu Zheng ◽

Marco Grottoli ◽

Barys Shyrokau

Keyword(s):

Driving Simulator ◽

Motion Platform ◽

Driver Training ◽

Human Machine Interaction ◽

Reference Tracking ◽

Motion Cues ◽

Adaptive Weights ◽

Washout Filter ◽

Motion Cueing ◽

And Performance

Driving simulators are widely used for understanding human–machine interaction, driver behavior and in driver training. The effectiveness of simulators in this process depends largely on their ability to generate realistic motion cues. Though the conventional filter-based motion-cueing strategies have provided reasonable results, these methods suffer from poor workspace management. To address this issue, linear MPC-based strategies have been applied in the past. However, since the kinematics of the motion platform itself is nonlinear and the required motion varies with the driving conditions, this approach tends to produce sub-optimal results. This paper presents a nonlinear MPC-based algorithm which incorporates the nonlinear kinematics of the Stewart platform within the MPC algorithm in order to increase the cueing fidelity and use maximum workspace. Furthermore, adaptive weights-based tuning is used to smooth the movement of the platform towards its physical limits. Full-track simulations were carried out and performance indicators were defined to objectively compare the response of the proposed algorithm with classical washout filter and linear MPC-based algorithms. The results indicate a better reference tracking with lower root mean square error and higher shape correlation for the proposed algorithm. Lastly, the effect of the adaptive weights-based tuning was also observed in the form of smoother actuator movements and better workspace use.

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Motion cues visualisation of a motion base for driving simulator

2008 IEEE International Conference on Robotics and Biomimetics ◽

10.1109/robio.2009.4913222 ◽

2009 ◽

Cited By ~ 1

Author(s):

Y. S. Chiew ◽

M. K. Abdul Jalil ◽

M. Hussein

Keyword(s):

Driving Simulator ◽

Motion Cues

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MPC-Based Motion Cueing Algorithm for a 6 DOF Driving Simulator with Actuator Constraints

10.20944/preprints202011.0495.v1 ◽

2020 ◽

Author(s):

Yash Raj Khusro ◽

Yanggu Zheng ◽

Marco Grottoli ◽

Barys Shyrokau

Keyword(s):

Driving Simulator ◽

Motion Platform ◽

Driver Training ◽

Human Machine Interaction ◽

Reference Tracking ◽

Motion Cues ◽

Adaptive Weights ◽

Washout Filter ◽

Motion Cueing ◽

And Performance

Driving simulators are widely used for understanding human-machine interaction, driver behavior and in driver training. The effectiveness of simulators in these process depends largely on their ability to generate realistic motion cues. Though the conventional filter-based motion cueing strategies have provided reasonable results, these methods suffer from poor workspace management. To address this issue, linear MPC-based strategies have been applied in the past. However, since the kinematics of the motion platform itself is non-linear and the required motion varies with the driving conditions, this approach tends to produce sub-optimal results. This paper presents a nonlinear MPC-based algorithm which incorporates the nonlinear kinematics of the Stewart platform within the MPC algorithm in order to increase the cueing fidelity and utilize maximum workspace. Further, adaptive weights-based tuning is used to smoothen the movement of the platform towards its physical limits. Full-track simulations were carried out and performance indicators were defined to objectively compare the response of the proposed algorithm with classical washout filter and linear MPC-based algorithms. The results indicate a better reference tracking with lower root mean square error and higher shape correlation for the proposed algorithm. Lastly, the effect of the adaptive weights-based tuning was also observed in the form of smoother actuator movements and better workspace utilization.

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The Influence of Motion and Audio Cues on Driver Performance in an Automobile Simulator

Human Factors The Journal of the Human Factors and Ergonomics Society ◽

10.1177/001872087501700508 ◽

1975 ◽

Vol 17 (5) ◽

pp. 488-501 ◽

Cited By ~ 67

Author(s):

Robert C. Mclane ◽

Walter W. Wierwille

Keyword(s):

Performance Measures ◽

Driving Simulator ◽

Visual Display ◽

Control Group ◽

Motion Cues ◽

Physical Motion ◽

Audio Cues ◽

Driver Performance ◽

Simulator Design ◽

Student Subjects

A highway driving simulator with a computer-generated visual display, physical motion cues of roll, yaw, and lateral translation, and velocity-dependent sound/vibration cues was used to investigate the influence of these cues on driver performance. Forty-eight student subjects were randomly allocated to six experimental groups. Each group of eight subjects experienced a unique combination of the motion and audio cues. The control group received a full simulation condition while each of the remaining five groups performed with certain combinations of motion and sound deleted. Each driver generated nine minutes of continuous data from which five performance measures were derived. Results indicate that the performance measures of yaw, lateral, and velocity deviation are significantly affected by the deletion of cues. In support of the hypothesis that driver performance is augmented by the addition of motion cues, statistically significant negative correlations were obtained between the number of motion cues present and the measures of yaw and lateral deviation. With respect to motion and audio cues, recommendations are made regarding simulator design criteria.

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Comparison of Computer-Generated and Simulated Motion Picture Displays in a Driving Simulation

Human Factors The Journal of the Human Factors and Ergonomics Society ◽

10.1177/001872087501700604 ◽

1975 ◽

Vol 17 (6) ◽

pp. 577-590 ◽

Cited By ~ 4

Author(s):

Walter W. Wierwille ◽

Peter P. Fung

Keyword(s):

Motion Picture ◽

Driving Simulator ◽

Lane Changing ◽

Motion Cues ◽

Lane Changes ◽

Physical Motion ◽

Dependent Variables ◽

Simulated Motion ◽

Four Levels ◽

Lane Keeping

An automotive driving simulator with a computer-generated display system, three axes of physical motion (roll, yaw, and lateral translation), sound, and vibration cues was used to investigate and compare human psychomotor response and vehicle response to different types of displays and motion cues. Subjects drove the simulator under four levels of displays; three being simulated preprogrammed motion picture displays (MPDS), one being the standard computer-generated display (CGDS). Motion and no-motion conditions were instituted at each display level. Each data run included lane-keeping and lane-changing tasks for various simulated highway conditions. During lane changes under MPDS conditions, both preprogrammed and nonpreprogrammed simulator conditions were examined. Seven dependent variables were used to measure performance. Results of the experiment show that one level of the simulated preprogrammed MPDS produced performance similar to that of a CGDS in all seven measures, whereas the other levels differed significantly. This suggests that using a properly instrumented preprogrammed MPDS will not compromise experimental results for certain research and educational experiments, and that in many cases an economical simulation using an MPDS would be adequate.

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