The paper encompasses the overview of the systems characteristics of the Fraunhofer driving simulator including real-time system, visualisation system, NVH and sound system and the hardware architecture. The functional interrelations of the system is shown. The simulator will be shown as a functional system open to integration with standard simulation tools. A simulator driving test of a fully interactive rough terrain driving with a wheeled excavator is set to demonstrate system characteristics, as well as the correlation between motion and visualisation system. The simulator core components like the vehicle model, the motion compression, the NVH simulation, the interfacing as well as the visual simulation are in-house developments with the full access to the source code. This allows to make modifications depending on the actual scenario and to optimize the simulator fidelity for particular vehicle models. Commercial tools for vehicle dynamics simulation, sound and graphic generation are also applicable. For the vehicle simulation a real-time capability is necessary. The motion feedback loop requires a real-time response to have a smooth simulator motion without excessive filtering. For the visual feedback a frame rate of 120 Hz is sufficient. This unique simulator, using an industrial robot with 1000 kg payload for the generation of motion feedback, allows the simulation of large tilt angles combined with a comparable high agility. Especially for the simulation of earth moving machinery and agricultural machines working in heavy terrain the human interaction with the machine is a very important feature. The coupling of the soil simulation to the graphical system is another big task in order to obtain an immersive simulation. A deformablc ground model enables many simulations in the area of off-road driving. This is an issue for forest and agricultural machinery as well as for off-road passenger cars. Together with high sophisticated tyre models the quality of excitations by these manoeuvres is much better than in the simple non-deformable case. Also energy consumption can be calculated with such soil model.


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    Titel :

    The Fraunhofer Robot-Based Driving and Operation Simulator. A simulation platform for commercial vehicles - Current development status


    Beteiligte:


    Erscheinungsdatum :

    2014


    Format / Umfang :

    10 Seiten, Bilder, 3 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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