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Realization of a Soft-Real-Time Automotive Simulator with Human Interaction

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Realization of a Soft-Real-Time Automotive Simulator with Human Interaction POLITECNICO DI MILANO Facoltà di Ingegneria Industriale Corso di Laurea in Ingegneria Meccanica Realization of a soft-real-time automotive simulator with human interaction Relatore: Prof. Umberto CUGINI Co-relatore: Dott. Francesco FERRISE Co-relatore: Ing. Marco GUBITOSA Tesi di Laurea di: Nicolai BENI Matr. 783207 Anno Accademico 2012 - 2013 “The starry heavens above me and the moral law within me” “Il cielo stellato sopra di me, la legge morale dentro di me” Immanuel Kant, 1788 Ringraziamenti Desidero ringraziare il professor Umberto Cugini, mio relatore, e il dottore Francesco Ferrise, mio correlatore presso il Politecnico di Milano, per avermi offerto la possibilità di svolgere il mio lavoro di tesi presso l’azienda LMS® International1. Uno speciale ringraziamento va all’ingegnere Marco Gubitosa, mio relatore presso LMS® International, per avermi seguito e aiutato in questi sei mesi. Infine ringrazio i miei genitori che mi hanno sostenuto durante questo percorso. 1 LMS® International: a Siemens Business leading partner in test and mechatronics simulation in the automotive, aerospace and other manufacturing industries. Index Abstract ........................................................................................................................................... 7 Sommario ........................................................................................................................................ 9 Riassunto ....................................................................................................................................... 11 Chapter 1 Automotive Simulator ............................................................................................... 19 1.1 Vehicle simulator state of art ......................................................................................... 19 1.2 Structure of a standard vehicle simulator ....................................................................... 23 Chapter 2 Virtual Simulator ....................................................................................................... 27 2.1 Open Source Virtual Simulator Research and Analysis ................................................. 30 2.1.1 vDrift ...................................................................................................................... 32 2.1.2 Torcs and Speed Dreams ........................................................................................ 34 2.1.3 Racer ...................................................................................................................... 36 2.2 Open Source Virtual Simulator Choice .......................................................................... 38 2.3 Multi-Body Virtual Simulator Architecture ................................................................... 39 2.4 Open Source Virtual Simulator Editing ......................................................................... 44 2.5 Multi-Body Vehicle Implementation ............................................................................. 49 2.5.1 Steering Co-simulation........................................................................................... 53 2.5.2 Driveline Co-simulation ......................................................................................... 55 2.5.3 Tire Co-simulation ................................................................................................. 59 2.5.4 Auxiliary Co-simulations ....................................................................................... 64 2.6 Real Time Data Plot ....................................................................................................... 65 I Chapter 3 Motion Simulator ...................................................................................................... 69 3.1 Steering Force Feedback ............................................................................................... 70 3.2 Motion Simulator Basic Concepts ................................................................................. 73 3.3 Motion Cueing Algorithm ............................................................................................. 75 3.3.1 Classical Approach ................................................................................................ 76 3.3.2 Optimal Approach ................................................................................................. 81 3.3.3 Adaptive Approach ............................................................................................... 82 3.3.4 Lateral Lane Position Approach ............................................................................ 83 3.3.5 Driving Task Adaptive Motion-Cueing Algorithm with Dynamic Scaling .......... 84 3.4 Vestibular Human System ............................................................................................. 86 3.5 Motion Platform Design ................................................................................................ 88 3.5.1 Preliminary sizing ................................................................................................. 89 3.5.2 From the simulated acceleration to the actuators position .................................... 91 3.5.3 From the actuator position to the multi-body model ............................................. 95 3.5.4 Basic optimization ................................................................................................. 98 3.5.5 Proposed platform ............................................................................................... 103 Conclusion .................................................................................................................................. 107 References .................................................................................................................................. 109 II Figures Figure 1.1. The "Antoniette Learning Barrel" simulator, 1910............................................ 20 Figure 1.2. The VIRTTEX simulator, 1994 ......................................................................... 21 Figure 1.3. The BMW 6DOF simulator, 2003 ..................................................................... 22 Figure 1.4. The NADS-1, 2002 ............................................................................................ 22 Figure 1.5. Toyota Driving Simulator, 2007 ........................................................................ 23 Figure 1.6. Standard simulator signals’ crossing ................................................................. 25 Figure 2.1. Standard virtual simulator's architecture ........................................................... 28 Figure 2.2. Proposed virtual simulator's architecture ........................................................... 29 Figure 2.3. vDrift's architecture ........................................................................................... 33 Figure 2.4. vDrift's Screenshot ............................................................................................. 34 Figure 2.5. Torcs' and Speed Dreams' architecture .............................................................. 35 Figure 2.6. Torcs' screenshot ................................................................................................ 36 Figure 2.7. Speed Dreams' screenshot ................................................................................. 36 Figure 2.8. Racer's architecture ............................................................................................ 37 Figure 2.9. Racer's screenshot .............................................................................................. 37 Figure 2.10. Multi-body virtual simulator's architecture ..................................................... 39 Figure 2.11. Coupled simulation structure ........................................................................... 41 Figure 2.12. Co-simulation structure ................................................................................... 42 Figure 2.13. Real-Time Co-simulation structure ................................................................. 42 Figure 2.14. Real-Time Co-simulation processes flow [25] ................................................ 43 Figure 2.15. Speed Dreams' vehicle frame of reference ...................................................... 46 Figure 2.16. Menu's screenshot before and after the editing ................................................ 49 Figure 2.17. LMS Virtual.Lab® environment and the multi-body model used .................... 50 Figure 2.18. Multi-body model's frame of reference ........................................................... 52 Figure 2.19. Ackermann steering geometry [29] ................................................................. 53 Figure 2.20. Wheelbase's influence on the wheels' steering angle ....................................... 54 Figure 2.21. Wheel track's influence on the wheels' steering angle ..................................... 55 Figure 2.22. Driveline Co-simulation functions flow .......................................................... 56 Figure 2.23. BMW engine 335i torque curve ...................................................................... 57 III Figure 2.24. Vertical tire model ........................................................................................... 60 Figure 2.25. Vertical reaction forces due to an initial vehicle’s adjustment ........................ 61 Figure 2.26. Pacejka Magic Formula
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