Title
Offline motion simulation framework: Optimizing motion simulator trajectories and parameters
Author
Katliar, M.
Olivari, M.
Drop, F.M.
Nooij, S.
Diehl, M.
Bülthoff, H.H.
Publication year
2019
Abstract
This paper presents a method to simultaneously compute optimal simulator motions and simulator parameters for a predefined set of vehicle motions. The optimization can be performed with a model of human motion perception or sensory dynamics taken into account. The simulator dynamics, sensory dynamics, and optimality criterion are provided by the user. The dynamical models are defined by implicit index-1 differential-algebraic equations (DAE). The direct collocation method is used to find the numerical solution of the optimization problem. The possible applications of the method include calculating optimal simulator motion for scenarios when the future motion is perfectly known (e.g., comfort studies with autonomous vehicles), optimizing simulator design, and evaluating the maximum possible cueing fidelity for a given simulator. To demonstrate the method, we calculated optimal trajectories for a set of typical car maneuvers for the CyberMotion Simulator at the Max-Planck Institute for Biological Cybernetics. We also optimize the configurable cabin position of the simulator and assess the corresponding motion fidelity improvement. The software implementation of the method is publicly available. © 2019 Elsevier Ltd
Subject
Differential equations
Dynamics
Numerical methods
Trajectories
Vision
Direct collocation methods
Motion perception
Motion simulator
Motion-cueing
Parameter optimization
Trajectory optimization
Simulators
To reference this document use:
http://resolver.tudelft.nl/uuid:09d9a44d-8462-42aa-a7a7-4ad45715d479
DOI
https://doi.org/10.1016/j.trf.2019.07.019
TNO identifier
869339
ISSN
1369-8478
Source
Transportation Research Part F: Traffic Psychology and Behaviour, 66, 29-46
Document type
article