State-Of-The-Art Driving Simulators, a Literature Survey
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, State-of-the-Art Driving Simulators, a Literature Survey Slob, J.J. (Jelmer) DCT 2008.107 DCT report Eindhoven University of Technology Department Mechanical Engineering Control Systems Technology Group Eindhoven, August 2008 Contents 1 Motion Simulation 2 1.1 Introduction . 2 1.2 History . 2 1.3 What is Motion Simulation? . 3 1.3.1 The Need for Motion . 4 1.4 Areas of use . 5 1.4.1 Entertainment . 6 1.4.2 Research . 6 1.4.3 Training . 7 2 Driving Simulators 8 3 Discussion 12 Bibliography 13 i List of Figures 1 Degrees of Freedom (DOF) . 1 1.1 Antoinette . 3 1.2 Stewart Platform, or Hexapod . 3 1.3 Classical Washout Filter [1] . 4 1.7 SHERPA . 6 1.8 UoLDS . 7 1.9 VTI-III . 7 2.1 IFAS (1984) . 8 2.2 MARS (2004) . 8 2.3 Ultimate (2004) . 9 2.4 Vitrtex (2001) . 9 2.5 BMW (2003) . 10 2.6 WIVW 1999 . 10 2.7 NADS-1 (2003) . 10 2.8 Toyota (2007) . 10 ii Nomenclature φ Roll Pith θ Yaw x Surge y Sway z Yaw ADAS Advanced Driver Assistance System CWF Classical Washout Filter DOF Degree of Freedom DSC Driving Simulator Conference FB Fixed Base FS Fixed Screen Heave Translational motion defined positively in the opposite direction of the gravitational field, z-direction in Figure 1. hi-fi High fidelity HMD Head Mounted Display HMI Human Machine Interface IVIS In-Vehicle Information System MCA Motion Cueing Algorithm MSC Motion Simulator Conference Pitch Rotational motion around y-axis in Figure 1. Roll Rotational motion around x-axis in Figure 1. Surge Motion in longitudinal direction of the vehicle, x-direction in Figure 1. Sway Motion in lateral direction of the vehicle, y-direction in Figure 1. Yaw Rotational motion around the z-axis in Figure 1. iii z, heave θ, yaw ϕ, roll ψ, pitch x, surge y, sway Figure 1: Degrees of Freedom (DOF) 1 Chapter 1 Motion Simulation 1.1 Introduction Driving simulation is a type of motion simulation that is currently undergoing an enormous change as the demand for more advanced and sophisticated driving simulators increases, the past decades. This survey focusses to get insight to the current state-of-the-art of driving simulation and simulators. Motorcycle, bicycle and train simulators are not considered. The driving simulator has a broad range of applications: in the purpose of the simulation as well as the used type of simulator. One can find driving simulators at driving schools, psychological research centres, amusement parks, car manufacturers etc. This survey will make a subdivision in fidelity. First attention is paid to motion simulation in general and everything that contributes to it. What is motion simulation? How does motion cueing work? Only motion based driving simulators are considered in this survey. Motion simulators without actu- ated motion are referred to as mid-level simulators [2] and consist of a car in front of a fixed screen. Terminology and acronyms used throughout this report can be found in the Nomenclature at page iii. 1.2 History Motion simulation started with flight simulation in the beginning of the 20th century. Flight training school “Antoinette” developed the first flight simulator [3]. In 1948 Gough developed a parallel manip- ulator for the purpose of testing tires. It was not until 1962 when D. Stewart reintroduced the parallel 6DOF (degree of freedom) system consisting of two platforms and 6 actuators [4]. The so called Stew- art platform was very well received in the world of motion simulation. It is a relatively compact design, comprising 6DOF-actuation and allowing relatively large payloads [5]. The first driving simulator designs consisted of few actuated DOF’s. 3DOF Designs were built bij Volkswagen (early 1970s) and the Swedish Road and Traffic Research Institute VTI, who were inspired by the Volkswagen design [6]. Mazda [7] has build a 4DOF actuated simulator in 1985, inspired by Volkswagen. That same year, the first 6DOF actuated simulator comes from Daimler-Benz [8]. Throughout the 90s, several 6DOF actuated were built (FORD [9], JARI, BMW, Renault, WIVW, Nissan [10]). At the North American Driving Simulation Conference(DSC) in 2003, the University of Iowa amazed the world of motion simulation with their National Advanced Driving Simulator (NADS-1) [11]. It 2 6 5 4 3 2 1 D D X Y Y X Z . V . E B P , T O L E E O C E R N N C C S T U Y , X S E D R E O O H E U H L B T V A C T . E R S N I V O I F D . D S H O B Y T T H I R E T A O Payload W N N H H , E Y T W D N S D O E O N U R I M C.O.G. O W X A T R C O E C R O L R U D F N L D Y E A M O Y H T O R N T Y I R H P A L R F E T N R O N W I O R R . O T S E X S U E D E S O I O R N U T T H A . R F T R L I S A O E R R P W D E O Y R H T D D T O T E E Payload R I R Payload I E E R W H N N P P O T A O E L O C.O.G. L R H O R F C.O.G. P T T A P O the capabilities of thecelerations system. are reproduced The byis visual the shown system simulator. in will Figure Thistion provide 1.3. is cueing the is required Only low-frequency the to the Classical information.with keep high-frequency Washout the Filter the components aim For (CWF). to simulator of The resemble the motionMotion principle real cueing translational within movements of describes in and the the virtual Classical rotational presentation environments Washout of ac- [10]. Algorithm visual, The acoustic,through most vestibular the popular and acoustic way haptic system. of information mo- of (cues) speed of thewith human information body about is linear obtainedlocated through and in the angular the visual inertial inner system.the accelerations ear gravitational of (left Sense force the of and and body. speed right), theon is is external the The also body forces the prominent and acquired and prominent sense environmental moments sensetion motion on is that with all the about provides respect body perception. to the [14]. The theSimulation perceptual human is body. The body defined system The has vestibular as two inertial an system, inputs imitation stimulation for of stems motion some perception: from real thing, inertial stimulants state of affairs, or process1.3 [13]. Motion simula- What is Motion Simulation? the availability of high resolutionproduct optical magnetic encoders [12]. materials, advancements inprovements in low electric cogging, motor low performance torquemany have ripple been industrial enabled sinusoidal applications by designs [12]. the and This developmentOver of development the new past is high decades also energy the noticeable use in of driving hydraulicwill simulators. actuation be The has explained, im- been before replaced getting bysimulator to best. electric driving servo Therefore simulators. first technology motion in cueingThere will is be introduced still and no the purpose consensus of on driving simulators in which fidelity motion is system an interesting designdesign, issue suits which (Chapter the exceeded 3). the demands NADS-1 ofULTIMATE, in see a size. Chapter realistic Whether 2). driving the Toyota ItSimCar, Simulator was UoLDS, also not exceeded see the until Chapter NADS-1 2007,truck 2) when simulators were the and built Toyota in Motor somex the Corporation were beginning came of upgraded with the a (FORD, 21stwas century VTI-III, the (SimuSys, Mark BMW, largest III, MARS so TUTOR, Renault Katech, far and consisted of a turntable, mounted on a hexapod, which was actuated in 8 - and 4 7 1 y 0 1 B -direction using an xy-table. A complete car was fitted inside the dome. Several car and B 2 1 , X 7 3 Figure 1.1: MRP 9 1 Z 5 , 3 2 0 1 L.J.C. Antoinette Motion System Complete Retracted (Hardstop) Motion System Complete Extended (Hardstop) 0 . 3 E V L . 1 K E B J . I T N L D E X E E F N O N D T O B Y R A F O I D . E V L R U D V R . H A R O B C N E R O S A D D E E A A N Y G R K H E Y G T D D N N E H I I N U I T L O N A E N O Z R TITLE : SCALE : PROJ. : MASS (kg) : D R S A D E E S X A I Y D R E T H , E Oktal R A S K A A M N E H O N E G T F O 1:20 A G E O I O O V E R N T EMotion-4000-6DOF-700-MK2 G X A F N mm N DIMENSIONS : DATE : E D I O S Max Payload: 4000 kg A R G T I V M N H D N R DRAWN : CRolink 31-03-06 A C L G A O Motion Base Assembly E A U Ixx: 18470 kgm^2 N V I L V V S T M CHECKED : WdE 31-03-06 G E M I H M K K O C N E I Iyy: 13857 kgm^2 L D E PROJECT : DOCUMENT : A T U SIZE REV.