Abstract
This chapter concerns the design of a human-in-the-loop road vehicle driving simulator. The key components of the driving simulator are the vehicle dynamic model, Stewart platform (parallel manipulator), real-time controller, visual animation system, and human–machine interface. In this chapter, the vehicle model developed in Chap. 6 has been used. The Stewart platform is modeled with its hydraulic actuators. Overwhelming control strategy, developed in Chap. 9, is used to control the platform motion so that it mimics the motion of the virtual vehicle (numerical model) driven through the human–machine interface (driver controls and visual feedback). For implementing the overwhelming controller, a lean inverse dynamics model of the platform has been constructed. It is shown that the overwhelming control strategy is an efficient method of system inversion. It further makes the control system robust against parametric uncertainties such as the platform payload. A simple graphics interface has been developed to render the driver display based on the computed vehicle position, orientation, and terrain data. The results from the developed basic simulator are presented. This chapter introduces the fundamental concepts needed to develop practical vehicle simulator systems.
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Merzouki, R., Samantaray, A.K., Pathak, P.M., Ould Bouamama, B. (2013). Road Vehicle Driving Simulator. In: Intelligent Mechatronic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-4628-5_13
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DOI: https://doi.org/10.1007/978-1-4471-4628-5_13
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