WO2014114409A1 - Simulateur de conduite - Google Patents

Simulateur de conduite Download PDF

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Publication number
WO2014114409A1
WO2014114409A1 PCT/EP2013/076739 EP2013076739W WO2014114409A1 WO 2014114409 A1 WO2014114409 A1 WO 2014114409A1 EP 2013076739 W EP2013076739 W EP 2013076739W WO 2014114409 A1 WO2014114409 A1 WO 2014114409A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
simulator
motion
platform
motion assembly
Prior art date
Application number
PCT/EP2013/076739
Other languages
English (en)
Inventor
Jean Paul WARMERDAM
Original Assignee
Moog Bv
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 Moog Bv filed Critical Moog Bv
Publication of WO2014114409A1 publication Critical patent/WO2014114409A1/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
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles

Definitions

  • the present invention is concerned with a simulator. More specifically, the present invention is concerned with a driving simulator for simulating a land vehicle driving experience using both motional and visual stimuli.
  • Driving simulators are known.
  • the intention of a driving simulator is to provide a combined visual and motional experience for the user which simulates the effects of driving a vehicle along a highway or other surface. This allows the product (i.e. the vehicle equipment) to be tested in a controlled environment which facilitates product development.
  • a driving simulator will comprise a vehicle cabin or cockpit and a display screen, visible to the driver which simulates the view of a surrounding environment. The image is typically projected onto the interior surface of a dome surrounding the cabin. Such simulation may use video or computer generated imagery.
  • Simulators also typically comprise an apparatus supporting the cabin and dome, which apparatus provides acceleration cues to the driver in order to simulate the forces experienced whilst driving a real vehicle.
  • the first type of forces result in high frequency, low amplitude accelerations, for example due to an uneven road surface.
  • the second type of forces result in lower frequency, higher amplitude accelerations, such as those experience under acceleration, braking and steering for example.
  • linear accelerations in the direction of travel are commonly known as surge, side-to-side accelerations are known as sway, and vertical accelerations as heave.
  • Rotational accelerations are known as roll (about an axis parallel to the direction of travel), pitch (about a side-to-side axis) and yaw (about a vertical axis).
  • the motional apparatus of known simulators often comprises a hexapod.
  • Hexapods, also known as Stewart platforms
  • hexapods can provide motion in six degrees of freedom, their workspace is limited. Therefore they are very good at providing the high frequency, low amplitude acceleration cues discussed above, but not as good at providing the lower frequency high amplitude cues (because their workspace is limited.
  • a known simulator which attempts to overcome this problem is shown in FR2677155.
  • a hexapod is supported on a two-way Cartesian slide rail in order to provide high amplitude sway and surge accelerations.
  • this particular arrangement requires a significant amount of floor space due to the two dimensional nature of the combined slide rails. This is undesirable.
  • the problem of space is addressed by the simulator shown in US2007/0018511.
  • the vehicle cabin is mounted on a yaw table such that it can be freely rotated about a yaw axis.
  • the yaw table is in turn mounted on a hexapod which can move both the yaw table and cabin and dome in six degrees of freedom to provide the aforementioned high frequency motion cues.
  • the hexapod is in turn mounted on a single slide rail which can provide high amplitude linear accelerations.
  • This device is arranged such that all required high amplitude linear accelerations can be provided by the single slide rail.
  • the vehicle is oriented facing in the direction of travel of the slide rail by the yaw table.
  • side-to-side motion i.e., a sway acceleration
  • the turntable can rotate the vehicle through 90 degrees (at a low rate, without the driver perceiving such rotation) and side-to-side accelerations can be provided by the slide rail.
  • the entire vehicle cabin, yaw table and dome containing the projection system are moved by the hexapod.
  • the hexapod has to actuate a significant load, and as a result is large and therefore expensive. This is not ideal as hexapods are expensive (they require a minimum of six linear actuators). Having a large hexapod also reduces the stiffness of the assembly.
  • any high frequency input provided by the hexapod will move the display screen as well as the dome, therefore reducing the realism of the simulation (in real life, the car would vibrate independently of its surroundings).
  • a vehicle simulator comprising:
  • a linear motion assembly having a static part and a moving part
  • a yaw table motion assembly having a static part and moving part
  • a motion simulator having at least 4 degrees of freedom
  • the static part of the yaw table motion assembly is mounted to the moving part of the linear motion assembly for linear movement relative to the static part of the linear motion assembly;
  • the motion simulator is mounted to the moving part of the yaw table motion assembly for rotational movement relative to the static part of the yaw table motion assembly;
  • the simulator platform is mounted to the motion simulator.
  • linear motion assembly we mean a system in which the moving part moves along a fixed path, or line.
  • the path or line may be straight or curved.
  • simulator platform we mean a general structure to which the motion cues of the invention are applied.
  • the platform may be any shape or configuration- it need not comprise a flat surface and may simply be e.g. part of a car body or a space frame as required.
  • motion simulator we mean an apparatus which can provide motion cues in the required at least 4 degrees of freedom.
  • the motion simulator may be a hexapod.
  • providing the motion simulator mounted on the yaw table, rather than the other way round means that the motion simulator does not need to move the yaw table, and as such can be made much more compact. This saves significant cost and complexity and makes the simulator a lot stiffer which improves responsiveness.
  • the yaw table may need to be larger and potentially more expensive than the yaw table of the prior art (because it now needs to move the motion simulator), however, yaw tables are much simpler and cheaper to construct than motion simulators such as hexapods and, as such, there is an overall saving in cost and complexity.
  • the vehicle simulator comprises a display screen, in which the display screen is mounted to the static part of the yaw table motion assembly.
  • the yaw table nor the hexapod needs to move the display screen.
  • This is more realistic than the prior art, because the surrounding environment of the driver can remain static whilst the cabin moves.
  • One exception to this is when the vehicle needs be rotated to change the slide rail to provide sway or surge.
  • the image on the screen is moved simultaneously with the cabin in the yaw direction in order to provide a smooth, uninterrupted simulation to the driver. Coupled with the low yaw acceleration, the driver is unaware that the cabin is rotating within the dome.
  • the ability to move the image with the vehicle if required is provided by software processing, which is less expensive than providing this functionality by moving the entire projection system.
  • washout i.e. movements which the occupant should not perceive- for example returning the motion simulator to a neutral position following a motion cue
  • Any system “washout” i.e. movements which the occupant should not perceive- for example returning the motion simulator to a neutral position following a motion cue
  • washout i.e. movements which the occupant should not perceive- for example returning the motion simulator to a neutral position following a motion cue
  • the vehicle simulator comprises at least a part of a vehicle mounted to the simulator platform.
  • the display screen may be provided integral with the platform- e.g. integral with a vehicle cabin.
  • the display screen may be provided in place of, or directly exterior to, the cabin windows.
  • the linear motion assembly is constrained to move along a predetermined path only such that the static part of the yaw table motion assembly is constrained to only move along the path.
  • the linear motion assembly is a one degree of freedom linear motion assembly such that the static part of the yaw table motion assembly is constrained in all degrees of freedom other than the one degree of freedom- i.e. it can only move along a straight line.
  • the motion simulator is at least partially nested within the yaw table motion assembly.
  • this makes for a more compact arrangement.
  • a method of simulating vehicle motion comprising the steps of:
  • the step of rotating the vehicle comprises the step of accelerating & decelerating the at least part of a vehicle at less than the maximum limit of occupant perception, such that this motion is not detectable by the driver.
  • FIGURE 1 is a perspective view of a driving simulator in accordance with the present invention.
  • a driving simulator 100 comprising a slide rail assembly 102, a yaw table assembly 104, a hexapod 106, a vehicle cabin 108, and an image projection assembly 110. Referring to the driving simulator 100 as a whole, global axes XG, YG and ZG are defined.
  • the slide rail assembly 102 comprises a static part in the form of a base 112 which is mounted on the floor (or another static, solid, flat horizontal surface).
  • the base 112 is generally rectangular in shape and comprises first and second parallel guide rails 114, 116. End buffers 118 are provided at the end of each rail in order to arrest motion if required.
  • the slide rail assembly 102 comprises a moveable part in the form of a moveable carriage 120.
  • the carriage 120 (most of which is obscured in Figure 1) is configured for sliding motion along the respective guide rails 114, 116.
  • An actuation assembly 122 is provided between the guide rails 114, 116 and is arranged to urge the carriage 120 in direction S, parallel to the global axis XG, on the guide rails 114, 116 as required.
  • the yaw table assembly 104 comprises a static part 124 and a moveable part 126.
  • the static part comprises a circular recess 125, extending from an opening in an otherwise generally planar upper surface 123.
  • the moveable part 126 is mounted for rotation about a yaw axis B, parallel to the global axis ZG, within the static part 124, and more particularly is mounted for rotation within the recess 125.
  • the rotation of the movable part 126 is achieved by an appropriate actuation system in the yaw table 104.
  • a slip ring (not visible) is provided between the static part 124 and the moveable part 126 in order to permit data and power transmission therebetween without inhibiting the extent of rotation.
  • the hexapod 106 comprises a base 128 above which a platform 130 is mounted.
  • the platform 130 is mounted to the base 128 via a hexapod actuation assembly 132 which is generally known in the art.
  • the hexapod 106 comprises six direct drive torque motors driving six push-pull rods connected to the platform.
  • the actuators move the platform 130 in three rotational and three translational degrees of freedom relative to the base 128.
  • a vehicle cabin 108 is provided which generally comprises part of a vehicle and includes a seat, a dashboard with driving controls and other surrounding equipment in order to provide a realistic driving environment for a driver.
  • the cabin has a local coordinate system XL, YL, ZL which moves with the cabin 108.
  • XL is the direction of travel (surge)
  • YL is side-to-side (sway)
  • ZL is vertical with respect to the cabin 108 (heave).
  • the projection assembly 110 comprises a dome 134 which is a concave structure defining an interior volume and having an internal projection screen 136 arranged to completely surround the driver in use.
  • Various projectors 138 are provided which are configured to project an image of the environment surrounding the vehicle onto the screen 136.
  • the projection system is configured to project either a static image (i.e. aligned to the global coordinate system) or to project an image which can move with the yaw table- i.e. rotate about the yaw axis B.
  • the driving simulator 100 is constructed as follows.
  • the static part 124 of the yaw table assembly 104 is mounted to the carriage 120 of the slide rail assembly 102 such that the static part 124 of the yaw table assembly 104 can only move relative to the base 112 of the slide rail assembly 102 in the direction S.
  • the base 128 of the hexapod 106 is rigidly attached to the moveable part 126 of the yaw table assembly 104 for rotation about the yaw axis B.
  • the moveable part 126 of the yaw table assembly, and hence the base 128 of the hexapod 106 is constrained in all other degrees of freedom apart from rotation about the axis B.
  • the hexapod 106 is nested within the recess 125 such that in a neutral position of the hexapod 106 the platform 130 is co-planar with the upper surface 123 of the yaw table 104.
  • the platform 130 may be positioned such that the car body is at the same height relative to the yaw table as it would be above the road.
  • the vehicle cabin 108 is attached to the platform 130 of the hexapod 106 and, as such, can rotate and translate in six degrees of freedom relative to the hexapod base 128.
  • the projection assembly 110 is attached to the static part 124 of the yaw table assembly 104. As such, in a global sense the projection assembly 110 is only capable of movement in linear direction S (i.e. parallel to XG).
  • the driving simulator 100 operates as follows.
  • the normal vibration (high frequency, low amplitude) inputs during driving are provided by the hexapod 106. If an acceleration of longer duration is required then the slide rail assembly can be used as follows.
  • the cabin 108 is positioned as shown in Figure 1- i.e. with the direction of travel XL perpendicular to, and the side-to-side axis YL parallel to, slide rail direction S (and XG).
  • the slide rail assembly 102 can be used to provide high amplitude sway motion cues.
  • the vehicle cabin 108 is rotated below the perception level of the driver such that the local forward direction XL is parallel to S, i.e., along the length of the slide rail assembly 102.
  • the image projected on the screen 136 is rotated at the same rate as the cabin 108. In this way, the driver does not notice the rotation.
  • the system can be constantly adjusted such that the cabin 108 is pointing in the appropriate direction for any required long duration acceleration and deceleration motion cues.
  • the hexapod 106 Throughout the high amplitude motion cues, and throughout the transition provided by the yaw table 104, the hexapod 106 provides high frequency motion cues to maintain a realistic driving feel.
  • the hexapod may comprise six linear actuators instead of direct drive torque motors and push-pull rods.
  • the display system will move with the hexapod platform and vehicle cabin. This means that without image movement, the vehicle occupant will not visually perceive motions arising the hexapod, yaw table or linear motion arrangement. Image compensation will be required should visual cues from motion of the yaw table and / or hexapod be desired. This will make the hexapod and yaw table larger in order to provide the additional force required to accelerate the dome.

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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)
  • Processing Or Creating Images (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

Un simulateur de conduite (100) comprend une glissière (102) sur laquelle est montée une table d'orientation (104) sur laquelle est monté un hexapode (106), l'hexapode fournissant à son tour une accélération à la cabine (108) entourée d'un dôme de projection (110) supporté par la partie statique de la table d'orientation (104).
PCT/EP2013/076739 2013-01-23 2013-12-16 Simulateur de conduite WO2014114409A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB201301151A GB201301151D0 (en) 2013-01-23 2013-01-23 Driving simulator
GB1301151.5 2013-01-23

Publications (1)

Publication Number Publication Date
WO2014114409A1 true WO2014114409A1 (fr) 2014-07-31

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Family Applications (1)

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PCT/EP2013/076739 WO2014114409A1 (fr) 2013-01-23 2013-12-16 Simulateur de conduite

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GB (1) GB201301151D0 (fr)
WO (1) WO2014114409A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105023499A (zh) * 2015-07-10 2015-11-04 苏州茂特斯自动化设备有限公司 汽车装配生产培训线
CN107331233A (zh) * 2017-07-21 2017-11-07 卡斯柯信号有限公司 一种带教师机功能的自动列车监控模拟培训系统
WO2018124547A1 (fr) * 2016-12-29 2018-07-05 Cj 4Dplex Co., Ltd. Module de guidage de mouvement combiné d'embardée et de lacet
CN110152326A (zh) * 2019-04-18 2019-08-23 武汉合厚丰玩具有限公司 一种开车模拟玩具
EP3751543A1 (fr) 2019-06-11 2020-12-16 Dynisma Ltd. Système de mouvements
NL2023724B1 (en) 2019-08-29 2021-05-11 E2M Tech B V Driving simulator

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2677155A1 (fr) * 1991-05-31 1992-12-04 Thomson Csf Simulateur de voiture automobile.
US20070018511A1 (en) * 2003-02-26 2007-01-25 Thomas Schulz Linear displacement system for a driving simulator
WO2008081406A1 (fr) * 2006-12-29 2008-07-10 Claudio Romagnoli Simulateur mécanique réaliste pour les sensations de véhicules en mouvement

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2677155A1 (fr) * 1991-05-31 1992-12-04 Thomson Csf Simulateur de voiture automobile.
US20070018511A1 (en) * 2003-02-26 2007-01-25 Thomas Schulz Linear displacement system for a driving simulator
WO2008081406A1 (fr) * 2006-12-29 2008-07-10 Claudio Romagnoli Simulateur mécanique réaliste pour les sensations de véhicules en mouvement

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105023499A (zh) * 2015-07-10 2015-11-04 苏州茂特斯自动化设备有限公司 汽车装配生产培训线
WO2018124547A1 (fr) * 2016-12-29 2018-07-05 Cj 4Dplex Co., Ltd. Module de guidage de mouvement combiné d'embardée et de lacet
CN107331233A (zh) * 2017-07-21 2017-11-07 卡斯柯信号有限公司 一种带教师机功能的自动列车监控模拟培训系统
CN107331233B (zh) * 2017-07-21 2020-08-18 卡斯柯信号有限公司 一种带教师机功能的自动列车监控模拟培训系统
CN110152326A (zh) * 2019-04-18 2019-08-23 武汉合厚丰玩具有限公司 一种开车模拟玩具
JP2020177201A (ja) * 2019-04-18 2020-10-29 上海▲か▼▲か▼玩具有限公司 模擬運転おもちゃ
CN110152326B (zh) * 2019-04-18 2021-04-16 深圳市比赛得科技有限公司 一种开车模拟玩具
EP3751543A1 (fr) 2019-06-11 2020-12-16 Dynisma Ltd. Système de mouvements
WO2020249262A1 (fr) 2019-06-11 2020-12-17 Dynisma Ltd. Système de mouvement
NL2023724B1 (en) 2019-08-29 2021-05-11 E2M Tech B V Driving simulator

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