Development of a washout algorithm for a vehicle driving simulator using new tilt coordination and return mode

Abstract

A vehicle driving simulator is a virtual reality device which makes a man feel as if he drove art actual vehicle Unlike actual vehicles, the simulator has limited kinematical workspace and bounded dynamic characteristics So it is difficult to simulate dynamic motions of a multi-body vehicle model In order to overcome these problems, a washout algorithm which controls the workspace of the simulator within the kinematical limitation is needed However, a classical washout algorithm contains several problems such as generation of wrong sensation of motions by filters in tilt coordination, requirement of trial and error method in selecting the proper cutoff frequencies and difficulty in returning the simulator to its origin using only high pass filters This paper proposes a washout algorithm with new tilt coordination method which gives more accurate sensations to drivers To reduce the time in returning the simulator to its ougin, an algonthrn that applies selectively onset mode from high pass filters and return mode from error functions is proposed As a result of this study, the results of the proposed algorithm are compared with the results of classical washout algorithm through the human perception models Also, the performance of the suggested algorithm is evaluated by using human perception and sensibility of some drivers through experiments