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Case StudyCase Study
Development of Virtual Driving Development of Virtual Driving Simulator for Transportation Simulator for Transportation ResearchResearch
M. K. Abdul Jalil, PhD
Faculty of Mechanical EngineeringUniversiti Teknologi Malaysia
Johor, Malaysia
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© Engineering Visualization Research Group (EVRG)
ICPDD ’04, Kota Kinabalu
This presentation…
To share with you our short research experience of developing a static base driving simulator
Basis for vehicle related reach activities in the future
Development of basic research in computational and visualization areas
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© Engineering Visualization Research Group (EVRG)
ICPDD ’04, Kota Kinabalu
Introduction
Virtual reality is a technology allows user to feel immersed in a computer-generated environment
A virtual driving simulator is a virtual reality device allows its user to feel a life-like experience of driving an actual vehicle
A driving simulator is cost effective tool to enable analysis on driving characteristics, and interaction between visual database and vehicles
A low cost PC-based static driving simulator can be used to develop VR related system
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ICPDD ’04, Kota Kinabalu
History of Driving Simulator
Root on flight simulator in early 1900s
Daimler-Benz high-fidelity driving simulator in 1985 with the advent of computer technologies
Advanced driving simulator constructed since 1990s
The most sophisticated driving simulator around the world, NADS in Iowa
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ICPDD ’04, Kota Kinabalu
Advanced Simulator Capable of simulating the
dynamic motions and scenes of actual vehicle with high fidelity simulation output
Construction cost is very high with consists of a visual system, control feel system, dynamic feedback platform, auditory system and complex full developed vehicle dynamic model
Examples: National Advanced Driving Simulator (NADS), Leeds Advanced Driving Simulator (LADS)
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© Engineering Visualization Research Group (EVRG)
ICPDD ’04, Kota Kinabalu
Why Driving Simulator?
Vehicle Prototyping – new vehicle design, ride and handling
Safety Related Issues – DWI, Cellular Phone, Driving endurance, blind spot
Drivers Training – truck simulators, train simulators
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ICPDD ’04, Kota Kinabalu
Components Visual database - simulation
of surrounding environment, including other vehicles
Vehicle Dynamic Model (VDM) - simulation of the physics of vehicle model and the road surface
‘Driving Cab’ A system that enables the
operator to interpret the state of the model such as visual display
Control devices, such as steering wheel, brake pedal and throttle
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ICPDD ’04, Kota Kinabalu
Our Research .. Static base simulator PC based, low-cost, with sufficient graphic
quality Components
visual database – audio + visual database VDM Vehicle control – accelerator, steering, brake
As a groundwork and preliminary attempt to develop an advanced driving simulator for vehicle related research
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ICPDD ’04, Kota Kinabalu
System Architecture
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ICPDD ’04, Kota Kinabalu
Hardware
3 Potentiometers
CB-68LP, 68-Pin Digital and Trigger I/O Terminal Block
NI PCI 6024E, 200 kS/s, 12-Bit, 16 Analog Input Multifunction DAQ
To PCI slot of Server CPU
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ICPDD ’04, Kota Kinabalu
Issues … Visual Database Rendering cost
Effective way of producing a detailed image, without using too much computer power
Graphic optimization is implemented – LOD
Simulation Frame-rate & Fidelity of Vehicle Driving Simulator
Large graphical delays mean a great risk of the driver getting dizzy even if the screen has good acuity
Acceptable frame-rate to human user (approx 40 frame/second) Enough quality and temporal response for driving tasks and maneuvers
Real-time Computation of Vehicle Dynamic Model (VDM)
The ability to run in real time depends on the integration time step and the complexity of the vehicle dynamic model
6 DOF VDM is used
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Visual Database VR environment is developed using WorldToolKit
(WTK) programming language. All models created using AutoCAD & 3D Studio WTK reads these models into the VR environment
and manage them under Scene Graph WTK universe includes:
Static models – sky, landscape, buildings, road, barriers, lights
Effects – fog, sound Transform node – driver’s view port in VR environment Position information – current position data extraction
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Scene Graph Management
Universe
Root Node
Light Node Group NodePosition
Information
Transform Node
Geometry Node
Driver View port
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Graphic Construction & Optimisation
Shell Modeling Texture Mapping Visible Facet Foggy Effect Recursion Technique Collision Detection Level of Detail (LOD)
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Shell Modeling
Models loaded into WTK are prepared in 3D shell (rather than solid) for polygon reduction.
Shell modelling reduces memory usage in the rendering of model internal parts
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ICPDD ’04, Kota Kinabalu
Texture Mapping
Texture mapping to improve visual database realism
Real photo images were taken by using digital camera and exported in .jpeg format
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ICPDD ’04, Kota Kinabalu
Visible Facet
Visible facet of building containing window frames and wall are created using single polygon with wall textures image mapped on the polygon to minimize graphical complexity
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ICPDD ’04, Kota Kinabalu
Fog Effect
Driver visibility Linear model
used
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ICPDD ’04, Kota Kinabalu
Collision Detection
Realistic road driving simulation
Against curbs, buildings, etc
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ICPDD ’04, Kota Kinabalu
Level of Detail (LOD)
Closer objects – good graphics
Far objects – minimal rendering
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ICPDD ’04, Kota Kinabalu
WTK Virtual Environment
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Network Data Transmission
Transmission Control Protocol / Internet Protocol (TCP/IP) was employed as the data transmission protocol between 2 PC’s
TCP is a connection-based protocol designed to ensure smooth data transfer
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Vehicle Dynamic Model (VDM)
The vehicle dynamic model is computed using MATLAB-SIMULINK program in the server computer
SIMULINK S-function block constructs a TCP/IP port for data interface with the client computer
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ICPDD ’04, Kota Kinabalu
Handling Dynamic Model
cosVu sinVv
v
u
Y
X
cossin
sincos
The velocities components and from vehicle velocity, and its sideslip angle, in the equations
Equations of motion of handling system
YNYmVN
YNYmVN
)(
)(
YNYmVN
YNNY
)(Handling Coefficients Corresponds To Velocity
(Courtesy from Motor Vehicle Dynamic, World Scientific)
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© Engineering Visualization Research Group (EVRG)
ICPDD ’04, Kota Kinabalu
Handing and Cornering Effect
The view port is from the position of vehicle c.g.
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ICPDD ’04, Kota Kinabalu
Quarter-Car Model
)( sfluflflsfl ZZkF
)( sfluflSdfl ZZCF
)( uflrfltfltfl ZZkF
)( uflrflStdtfl ZZCF
uflufldtfldflsfltfl ZmFFFF
ufl
dtfldflsfltflufl
m
FFFFZ
Quarter-Car Model
A two-degree of freedom quarter-car model is suitable to examine the forces acting on the suspension system natural frequency up to 30-50Hz
Arrange in the form of Newton’s Second Law, the unsprung mass vertical acceleration is computed
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ICPDD ’04, Kota Kinabalu
Full-Car Model
B
rrrlfrflb
m
FFFFZ
XX
rrfrrlfl
I
aFF
aFF )
2)(()
2)((
YY
frflrrrl
I
bFF
bFF )
2)(()
2)((
The result obtained from quarter-car model is substituted into Full-car model. The equation of motions of suspension system are
bB ZmF
XXX IM
YYY IM
Hence, the variables of dynamic model is obtained
Full-Car Model
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ICPDD ’04, Kota Kinabalu
Visualization of Suspension Response
The view port is from the position of vehicle c.g.
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ICPDD ’04, Kota Kinabalu
Suspension Response of Vehicle
Road Input, [Z]
Vertical Translation, z
Roll angle
Pitch angle
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ICPDD ’04, Kota Kinabalu
Conclusion
Our first attempt to develop a low-cost static base driving simulator using VR technology is almost completed.
This project provides the groundwork for future development of advanced driving simulator.
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ICPDD ’04, Kota Kinabalu
Future work
Integration of Motion base Development of traffic simulation Comprehensive database development More efficient computational and graphics
rendering methods – parallel rendering, better approximation methods
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ICPDD ’04, Kota Kinabalu
Thank You
Contact: [email protected]