Wheeled Mobile Driving Simulators (WMDS) have a theoretically unlimited range of motion and therefore bear a high potential for the simulation of complex driving scenarios. Vertical excitations due to non-perfectly even ground are one of the main challenges concerning the concept. An active vertical dynamics control using the available hexapod in combination with a driving surface detection bears a high potential for the reduction of vertical disturbances of the subject. For the development of the driving surface detection system, an analysis of state-of-the-art environment perception sensors is conducted. Based on the gathered sensor characteristics and the characteristics of WMDS, requirements are defined. This enables the selection of a stereo-camera as a theoretically suitable sensor concept in combination with a driving surface pre-mapping approach prior to the simulation run. The accuracy of the driving surface measurement and the positional tracking are investigated experimentally. The accuracy of the road profile measurement is determined to be sufficient above wavelengths of 0.04 m. The tracking accuracy amounts to 1.7% at a maximum distance of 50 m. The results show the driving surface detection capabilities of modern high-resolution stereo-cameras and are applicable to other highly dynamic vehicles with a similar framework like WMDS.
Preview of Driving Surface Unevenness in Wheeled Mobile Driving Simulators
2018-11-01
1269185 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Springer Verlag | 2021
|Springer Verlag | 2015
|Road surface unevenness identification method during vehicle driving, vehicle and storage medium
Europäisches Patentamt | 2021
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