WO2003088185A1 - Procede de representation d'une acceleration longitudinale influant sur un conducteur lors d'une simulation de conduite - Google Patents

Procede de representation d'une acceleration longitudinale influant sur un conducteur lors d'une simulation de conduite Download PDF

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Publication number
WO2003088185A1
WO2003088185A1 PCT/EP2003/002600 EP0302600W WO03088185A1 WO 2003088185 A1 WO2003088185 A1 WO 2003088185A1 EP 0302600 W EP0302600 W EP 0302600W WO 03088185 A1 WO03088185 A1 WO 03088185A1
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WO
WIPO (PCT)
Prior art keywords
cabin
acceleration
tangential
axis
longitudinal
Prior art date
Application number
PCT/EP2003/002600
Other languages
German (de)
English (en)
Inventor
Jochen GÖTZ
Original Assignee
Daimlerchrysler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2003088185A1 publication Critical patent/WO2003088185A1/fr

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles

Definitions

  • the invention relates to a method for displaying a longitudinal acceleration of the motor vehicle acting on the driver while driving in a driving simulation with the aid of a driving simulator according to the preamble of patent claim 1.
  • Driving simulations in driving simulators are playing an increasingly important role in the development of motor vehicles, since they offer the possibility of carrying out cost-effective and reproducible fundamental tests long before prototypes are built.
  • a test subject is in a cabin, which is accelerated and / or rotated or swiveled in different spatial directions by means of a movement system.
  • the problem particularly occurs that not enough way is for the construction of accelerations available waving in the driver while driving. "In the representation of acceleration in the longitudinal direction of the motor vehicle as if they occur during acceleration or deceleration, for example, the lack of movement space has an impact.
  • a method for solving this problem is known from the generic DE-OS 28 42 409.
  • the subject is moved in the cabin on the circular path around a fixed pivot point using the motion system of the driving simulator, the cabin being aligned such that the longitudinal axis of the cabin is aligned radially.
  • the centrifugal acceleration acting on the test subjects is used to represent longitudinal accelerations.
  • this method has the disadvantage that, due to the movement on a circular path in which the longitudinal axis of the cabin is oriented tangentially, high interference forces or interference accelerations occur in the transverse direction, that is to say in the tangential direction, which massively disturb the sensation.
  • the invention is based on the object of proposing a method with which long-lasting and high longitudinal accelerations acting on a driver can be realistically represented in a driving simulator.
  • the object is achieved by the features of the main claim.
  • the tangential acceleration that occurs when the cabin moves on a circular path is used to represent the longitudinal acceleration.
  • the cabin is tilted around an axis parallel to the longitudinal direction of the cabin during the circular movement.
  • the subject does not feel the centripetal force during the driving simulation if the cabin is tilted about the axis parallel to the longitudinal direction of the cabin to compensate for the centripetal acceleration, so that the cabin vertical axis is aligned colinearly with the resulting vector of gravitational acceleration and centrifugal acceleration. Then only an acceleration in the vertical direction, which corresponds to an increased acceleration due to gravity, and a longitudinal acceleration act on the test subjects.
  • the longitudinal axis of the cabin is expediently aligned approximately parallel to the tangential direction.
  • the axis about which the cabin is tilted advantageously runs approximately through the subject's head. The tilting around this axis is very favorable from a perception point of view, since the balance organs, which are responsible for the perception of accelerations, are located at the head. When tilted about this axis, the equilibrium organs are pretended to be acceleration-free (claim 3).
  • the cabin is set at a constant speed in the direction opposite to the direction of the later circular movement before the start of the longitudinal acceleration display.
  • the amount of the maximum acceleration that can be represented in the simulation can be increased as by a zero point shift (claim 4).
  • the longitudinal acceleration to be displayed is split into a high-frequency and a low-frequency component.
  • the low-frequency component is split into a tangential and a tilt component.
  • the tangential and high-frequency components are shown by tangential acceleration, while the tilt components by Inclination is shown around the cabin transverse axis. Due to this speed dependency, the method can be easily adapted to different perception thresholds or different path radii (claim 6).
  • 1 is a plan view of a cabin that is moved on a circular path
  • Fig. 3 is a side view of the cabin with additional inclination about the transverse axis, as well
  • Fig. 4 is a block diagram of the algorithm with additional inclination about the transverse axis.
  • the method for representing a longitudinal acceleration 1, which acts on a driver while driving in a motor vehicle is illustrated with the aid of a driving simulator 2. Only the pure longitudinal acceleration 1 is to be represented with the method, as occurs, for example, during an acceleration process or a switching process. In this way, driving simulator tests should make valid statements about the real behavior of the drive train of a motor vehicle at a very early stage in motor vehicle development.
  • FIG. 1 shows a plan view of a (vehicle) cabin 3 of a driving simulator 2. It is conceivable for the method on the one hand that the cabin 3 moves autonomously on a base area 4. On the other hand, the cabin 3 can be al, for example over a portal bridge.
  • Driving simulators 2, with which such movements of the cabin 3 can be represented, are disclosed in DE ... (not yet published, official act 10150382.2-35).
  • the interior 5 of which is designed like that of a real motor vehicle there is a test subject 6.
  • the test subject 6 sits on a driver's seat 7 and can use the instrumentation 8, similar to that found in a motor vehicle, such as steering wheel 9, accelerator pedal 10, etc. access.
  • the cabin 3 is now moved on a circular path 11 with a radius 12 about a spatially fixed axis of rotation 13 and has an angular velocity 14.
  • the longitudinal axis 15 of the cabin is oriented approximately parallel to the tangential direction 16 of the circular path 11.
  • the subject 6 perceives the tangential acceleration 18 which occurs in a fixed coordinate system 17 during the circular movement in the tangential direction 16 in a cabin fixed coordinate system 19 as a longitudinal acceleration 1 acting in the direction of the cabin longitudinal axis 15 ,
  • This centripetal acceleration 20 disturbs the sensation of the subject 6, who is supposed to perceive only a pure longitudinal acceleration 1.
  • the solution to this problem according to the invention is to tilt the cabin 3 about a tilt axis 25 parallel to the longitudinal axis 15 of the cabin; this is shown in FIG. 2 in a side view of the cabin 3. It can be seen here how the movement of the cabin 3 can take place in principle.
  • the cabin 3 can also be moved relative to the slide 21. This is done by an additional movement system 23.
  • This can be configured, for example, in the form of vertically acting actuators 24, as shown here.
  • a hexapod with is also conceivable which a three-dimensional movement of the cabin 3 relative to the carriage 21 is achieved.
  • the centripetal acceleration 20 is now compensated for by tilting the cabin 3 about the tilt axis 25 parallel to the longitudinal axis 15 of the cabin, which here is perpendicular to the plane of the drawing. With this tilting, the cabin vertical axis 26 assumes a certain tilting angle 27 to a spatially fixed vertical 28.
  • the tilting angle 27 is chosen such that the tilted cabin vertical axis 26 coincides with the resulting vector 29 from the gravitational acceleration 30 acting on the test subject 6 and the centrifugal acceleration 31, then the test subject 6 no longer experiences a disturbing transverse acceleration, but only an increased one Gravitational acceleration 30 in the vertical direction.
  • the maximum longitudinal accelerations 1 that can be represented by this method have an upper limit; the reason for this limitation lies in the fact that from a certain longitudinal acceleration 1 the subject 6 feels the apparent increase in the acceleration due to gravity 30, which is caused by the compensated centripetal acceleration 20. This limit, from which the increase in gravity is felt, is around 6% of the acceleration due to gravity.
  • One measure to increase the interval of the longitudinal acceleration 1 that can be represented in the simulation is that prior to the simulation of the longitudinal acceleration 1 described above by moving on the circular path 11, the cabin 3 into that of the later movement direction opposite direction is set in a certain constant angular velocity. A higher longitudinal acceleration 1 can be achieved by shifting the zero point towards negative start speeds as the end value.
  • FIG. 3 An additional possibility in order to be able to represent larger acceleration intervals lies in the combination of the method described above with an additional inclination algorithm.
  • the implementation of this method is shown in FIG. 3.
  • the cabin 3 is additionally inclined about an axis of inclination 34 parallel to a transverse axis 33 of the cabin, which here is perpendicular to the plane of the drawing.
  • the inclined longitudinal axis 15 of the cabin includes an angle of inclination 36 with the horizontal 35.
  • a portion 37 of the gravitational acceleration 30 acting on the subject 6 acts in the direction of the inclined longitudinal axis 15 of the subject.
  • the subject 6 perceives this portion 37 as a longitudinal acceleration 1 as long as a certain inclination speed is not exceeded.
  • the inclination axis 34 is advantageously used for the reasons described above through the head 32 of the subject 6.
  • Fig. 4 shows a block diagram 38 of an embodiment of this simultaneous tilt and tilt.
  • the aim is to represent the proportions of the longitudinal acceleration 1 to be displayed which are below the limit value described above, above which the subject perceives an increase in gravity, by tangential acceleration 18, while acceleration portions above this limit value are represented by an additional inclination.
  • a longitudinal acceleration 1 to be represented in the simulation which is initially split into two parts, a high-frequency part 39 the signal components belonging to high frequencies and a low frequency component 40 containing the signal components belonging to low frequencies.
  • This splitting takes place with the aid of a high-pass filter 41 and a low-pass filter 42.
  • the low-frequency component 40 is integrated by an integrator 43 and is split into two components at the speed level by a non-linear function 44.
  • This splitting is dependent on a threshold value 45, which is formed by the maximum speed, which can just about be represented with the aid of tangential acceleration 18 in the pure path movement shown in FIGS. 1 and 2 without any perceived increase in gravity. Accelerations which lead to speeds below this threshold value 45 can be represented as tangential component 46, after they have been added to the high-frequency component 39, solely by means of tangential acceleration 1.
  • the inclination component 47 of the longitudinal acceleration 1, which exceeds the threshold value 45, is represented by the inclination illustrated in FIG. 3 about the inclination axis 34 parallel to the cabin transverse axis 33.
  • the required angle of inclination 36 results from the inclination component 47 and the gravitational acceleration 30.
  • the method is not limited to the exemplary embodiments shown above.
  • the method can also be used to display lateral accelerations.
  • the greater the deviations from the tangential direction 16 the greater the accelerations of interference which act on the test subject 6 in the direction of the cabin transverse axis 33. Since the method is primarily used to simulate longitudinal accelerations 1, in most cases the above will be used described almost tangential alignment of the cabin 3 be better.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Instrument Panels (AREA)

Abstract

L'invention concerne un procédé de représentation d'une accélération longitudinale d'un véhicule automobile influant sur un conducteur dans un véhicule automobile pendant une course lors d'une simulation de conduite à l'aide d'un simulateur de conduite, un sujet d'expérience situé dans une cabine étant déplacé sur une trajectoire circulaire à l'aide d'un système de déplacement. L'objectif de cette invention est d'éliminer certaines influences perturbatrices apparaissant lors de la mise en oeuvre dudit procédé. A cet effet, on utilise l'accélération tangentielle apparaissant lors du déplacement sur la trajectoire circulaire dans le système de coordonnées stabilisé pour représenter l'accélération longitudinale. Afin de compenser l'accélération centripète influant sur le sujet d'expérience, la cabine est basculée autour d'un axe de basculement parallèle à la direction tangentielle, de sorte que l'axe vertical de la cabine est colinéaire au vecteur résultant de l'accélération de la pesanteur et de l'accélération centrifuge.
PCT/EP2003/002600 2002-04-16 2003-03-13 Procede de representation d'une acceleration longitudinale influant sur un conducteur lors d'une simulation de conduite WO2003088185A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10216690.0 2002-04-16
DE10216690A DE10216690B4 (de) 2002-04-16 2002-04-16 Verfahren zur Darstellung einer auf einen Fahrer wirkenden Längsbeschleunigung in einer Fahrsimulation

Publications (1)

Publication Number Publication Date
WO2003088185A1 true WO2003088185A1 (fr) 2003-10-23

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PCT/EP2003/002600 WO2003088185A1 (fr) 2002-04-16 2003-03-13 Procede de representation d'une acceleration longitudinale influant sur un conducteur lors d'une simulation de conduite

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DE (1) DE10216690B4 (fr)
WO (1) WO2003088185A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108627155A (zh) * 2018-03-30 2018-10-09 华南农业大学 一种农业机械非直线作业向心加速度估算及倾角融合方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010041967A1 (de) * 2010-10-05 2012-04-05 Zf Friedrichshafen Ag Verfahren zum Ermitteln einer Neigung eines Fahrzeuges in Fahrtrichtung
CN102426809B (zh) * 2012-01-17 2013-11-06 山东省远大网络多媒体股份有限公司 无线向心力实验器
DE102013224510B4 (de) * 2013-11-29 2021-12-30 Bayerische Motoren Werke Aktiengesellschaft Motion Cueing zur Fahrdynamikbewertung

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2842409A1 (de) * 1978-09-29 1980-04-17 Daimler Benz Ag Verfahren und einrichtung zur vermittlung des eindrucks einer horizontalbeschleunigung bei fahrsimulation
US5051094A (en) * 1987-10-16 1991-09-24 Environmental Tectonics Corporation G-force trainer
EP0580086A1 (fr) * 1992-07-20 1994-01-26 Reinhard Landmann Installation pour la simulation des accélérations angulaires et similaires affectant les passagers d'un véhicule
US5353242A (en) * 1988-12-28 1994-10-04 Veda Incorporated Motion base control process and operator perceptual simulator
EP0694896A1 (fr) * 1994-07-29 1996-01-31 Ebim S.A. Plate-forme mobile et son utilisation pour la réalisation d'une cabine de simulation
EP0934766A1 (fr) * 1997-08-25 1999-08-11 Sega Enterprises, Ltd. Equipements de jeu, vehicules pour equipements de jeu et ecran pour equipements de jeu

Family Cites Families (2)

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Publication number Priority date Publication date Assignee Title
SU1360443A1 (ru) * 1985-09-18 1996-01-20 МГУ им.М.В.Ломоносова Способ имитации перегрузок, действующих на организм человека в полете
DE4109827C2 (de) * 1991-03-26 1996-06-05 Krauss Maffei Ag Bewegungseinrichtung für einen Fahrsimulator

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2842409A1 (de) * 1978-09-29 1980-04-17 Daimler Benz Ag Verfahren und einrichtung zur vermittlung des eindrucks einer horizontalbeschleunigung bei fahrsimulation
US5051094A (en) * 1987-10-16 1991-09-24 Environmental Tectonics Corporation G-force trainer
US5353242A (en) * 1988-12-28 1994-10-04 Veda Incorporated Motion base control process and operator perceptual simulator
EP0580086A1 (fr) * 1992-07-20 1994-01-26 Reinhard Landmann Installation pour la simulation des accélérations angulaires et similaires affectant les passagers d'un véhicule
EP0694896A1 (fr) * 1994-07-29 1996-01-31 Ebim S.A. Plate-forme mobile et son utilisation pour la réalisation d'une cabine de simulation
EP0934766A1 (fr) * 1997-08-25 1999-08-11 Sega Enterprises, Ltd. Equipements de jeu, vehicules pour equipements de jeu et ecran pour equipements de jeu

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108627155A (zh) * 2018-03-30 2018-10-09 华南农业大学 一种农业机械非直线作业向心加速度估算及倾角融合方法

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DE10216690B4 (de) 2006-07-13
DE10216690A1 (de) 2003-11-06

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