Driving Simulation

Passive and active safety systems (ABS, ESP, safety belts, airbags, etc.) represent a major advance in terms of safety in motoring. They are increasingly developed and installed in cars and are beginning to appear in twowheelers. It is clear that these systems have provenefficient, although there is no information about their actual operation by current users. The authors of this book present a state of the art on safety systems and assistance to driving and their two-wheeled counterparts. The main components constituting a driving simulator are described, followed by a classification of robotic architectures. Then, a literature review on driving simulators and two-wheeled vehicles is presented. The aim of the book is to point out the differences of perspectives between motor vehicles and motorcycles to identify relevant indicators to help in choosing the mechanical architecture of the motorcycle simulator and appropriate controls. Contents 1. Driving Simulation.2. Architecture of Driving Simulators.3. Dynamics of Two-Wheeled Vehicles.4. Two-Wheeled Riding Simulator: From Design to Control.

Passive and active safety systems (ABS, ESP, safety belts, airbags, etc.) represent a major advance in terms of safety in motoring. They are increasingly developed and installed in cars and are beginning to appear in twowheelers. It is clear that these systems have provenefficient, although there is no information about their actual operation by current users. The authors of this book present a state of the art on safety systems and assistance to driving and their two-wheeled counterparts. The main components constituting a driving simulator are described, followed by a classification of robotic architectures. Then, a literature review on driving simulators and two-wheeled vehicles is presented. The aim of the book is to point out the differences of perspectives between motor vehicles and motorcycles to identify relevant indicators to help in choosing the mechanical architecture of the motorcycle simulator and appropriate controls.Contents1. Driving Simulation.2. Architecture of Driving Simulators.3. Dynamics of Two-Wheeled Vehicles.4. Two-Wheeled Riding Simulator: From Design to Control.

ACKNOWLEDGMENTS ixINTRODUCTION xiCHAPTER 1. DRIVING SIMULATION 11.1. Objectives of driving simulation 11.2. A short history of driving simulators 31.2.1. Fixed-base platforms 31.2.2. Platforms with a serial structure 51.2.3. Platforms with parallel structure 51.2.4. Hybrid structured platforms 101.2.5. "Low-cost" generation 141.3. Driving simulation objectives 16CHAPTER 2. ARCHITECTURE OF DRIVING SIMULATORS 192.1. Architecture of driving simulators 192.2. Motion cueing and haptic feedback 262.2.1. The human motion perception system 272.2.2. Mathematical description 302.2.3. Motion cueing algorithm 332.3. The evolution of simulators: from the automobile to themotorcycle 482.3.1. Honda simulators 482.3.2. Tokyo university simulator 512.3.3. MORIS simulator 522.3.4. SafeBike simulator 532.3.5. Bicycle simulator - Kaist 552.3.6. Discussion 55CHAPTER 3. DYNAMICS OF TWO-WHEELED VEHICLES 573.1. Modeling aspect 573.1.1. Vehicle motion 593.1.2. Road-tire interface 603.1.3. Direction system 653.1.4. Suspensions 673.1.5. Motorization and traction chain 673.2. The literature on existing models 693.2.1. Models of the automobile 693.2.2. Two-wheeled vehicle models 713.3. Dynamic behavior of automobiles 773.4. Dynamic behavior of two-wheeled vehicles 773.5. Summary 82CHAPTER 4. TWO-WHEELED RIDING SIMULATOR: FROM DESIGN TOCONTROL 854.1. Introduction 854.2. The design and mechanical aspects of the simulator 864.3. The mechatronics of the simulator 924.3.1. Description of the simulation loop 924.3.2. Platform instrumentation 944.3.3. Sequencing and synchronization 994.4. Specification of the simulator 1014.4.1. Inverse kinematic of the simulator platform 1014.4.2. Dynamic modeling of the platform 1074.4.3. Identification 1094.5. Multi-sensory integration: washout and force feedback1164.5.1. Localization of the washout 116BIBLIOGRAPHY 125INDEX 135