Vehicle Dynamics and Motion Drive for Realtime Simulators

Advances in simulator technology and the proliferation of low cost computers have allowed researchers to move the test track/range indoors. To insure proper transfer of experience, the many simulator components must work in harmony. This proposal addresses the motion cueing for hexapod-based systems for driving simulations. Hexapods have limited motion capability for representing lateral accelerations that are represented in steady state by tilt cues. If done improperly the resulting cues will negatively impact the simulation experience and may also result in simulator sickness, regardless of the fidelity of the other simulator components. For the simulation of ground vehicles, the Army has identified a need for motion cueing algorithms that will improve perceived lateral handling of the vehicle. Two approaches are proposed: extensions to the OverTilt algorithm currently used at TARDEC; and the RideCue algorithm that provides extremely compelling specific force cueing without the need for washouts. To demonstrate feasibility in Phase I, these algorithms will be advanced, analyzed, and compared with the current TARDEC algorithm. The analysis will involve simulation of advanced Army vehicles performing critical lateral maneuvering. In Phase II, the techniques will be evaluated via a driver-in-the-loop simulation employing a 6DOF hexapod platform.