Model Predictive Control based Motion Cueing Algorithm for Driving Simulator  

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作  者:Ayesha Hameed Ali Soltani Sharif Abadi Andrzej Ordys 

机构地区:[1]Institute of Automatic Control and Robotics,Warsaw University of Technology,Warsaw,Poland [2]Institute of Electronic Systems,Warsaw University of Technology,Warsaw,Poland

出  处:《Journal of Systems Science and Systems Engineering》2024年第5期607-626,共20页系统科学与系统工程学报(英文版)

基  金:the Warsaw University of Technology(WUT),grant No.504440200007;Ali Soltani Sharif Abadi acknowledges support from WUT,grant No.504440200003.

摘  要:Thanks to the emerging integration of algorithms and simulators, recent Driving Simulators (DS) find enormous potential in applications like advanced driver-assistance devices, analysis of driver’s behaviours, research and development of new vehicles and even for entertainment purposes. Driving simulators have been developed to reduce the cost of field studies, allow more flexible control over circumstances and measurements, and safely present hazardous conditions. The major challenge in a driving simulator is to reproduce realistic motions within hardware constraints. Motion Cueing Algorithm (MCA) guarantees a realistic motion perception in the simulator. However, the complex nature of the human perception system makes MCA implementation challenging. The present research aims to improve the performance of driving simulators by proposing and implementing the MCA algorithm as a control problem. The approach is realized using an actual vehicle model integrated with a detailed model of the human vestibular system, which accurately reproduces the driver’s perception. These perception motion signals are compared with simulated ones. A 2-DOF stabilized platform model is used to test the results from the two proposed control strategies, Proportional Integrator and Derivative (PID) and Model Predictive Control (MPC).

关 键 词:Driving simulator motion cueing algorithm control theory model predictive control PID 

分 类 号:V249[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]

 

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