Control of a Dynamic Driving Simulator: Time-Variant Motion Cueing Algorithms and Prepositioning

Abstract

This thesis mainly addresses the task to provide the driver of a dynamic driving simulator with the same motion cues as would occur in reality. The DLR Driving Simulator, which is the subject matter of this thesis, uses a hexapod motion platform to generate these specific forces and accelerations. The ambition of this thesis is to enhance the realism of the simulation. This is achieved by improving the system that generates the motion commands for the simulator platform based on the simulated vehicle’s motion, the motion cueing algorithm. Two adaptive motion cueing algorithms were established, that switch between different static algorithms and use filters with time-varying coefficients. A prepositioning module enlarges the available motion envelope in the direction of likely motions. The current and a predicted driving situation are used to determine the adaption of the motion cueing algorithm and the prepositioning motion of the platform to exploid the capabilities of the simulation platform to a higher degree.