Extensions for Distributed Moving Base Driving Simulators

Abstract: Modern vehicles are complex systems. Different design stages for such a complex system include evaluation using models and submodels, hardware-in-the-loop systems and complete vehicles. Once a vehicle is delivered to the market evaluation continues by the public. One kind of tool that can be used during many stages of a vehicle lifecycle is driving simulators.The use of driving simulators with a human driver is commonly focused on driver behavior. In a high fidelity moving base driving simulator it is possible to provide realistic and repetitive driving situations using distinctive features such as: physical modelling of driven vehicle, a moving base, a physical cabin interface and an audio and visual representation of the driving environment. A desired but difficult goal to achieve using a moving base driving simulator is to have behavioral validity. In other words, \A driver in a moving base driving simulator should have the same driving behavior as he or she would have during the same driving task in a real vehicle.".In this thesis the focus is on high fidelity moving base driving simulators. The main target is to improve the behavior validity or to maintain behavior validity while adding complexity to the simulator. One main assumption in this thesis is that systems closer to the final product provide better accuracy and are perceived better if properly integrated. Thus, the approach in this thesis is to try to ease incorporation of such systems using combinations of the methods hardware-in-the-loop and distributed simulation. Hardware-in-the-loop is a method where hardware is interfaced into a software controlled environment/simulation. Distributed simulation is a method where parts of a simulation at physically different locations are connected together. For some simulator laboratories distributed simulation is the only feasible option since some hardware cannot be moved in an easy way.Results presented in this thesis show that a complete vehicle or hardware-in-the-loop test laboratory can successfully be connected to a moving base driving simulator. Further, it is demonstrated that using a framework for distributed simulation eases communication and integration due to standardized interfaces. One identified potential problem is complexity in interface wrappers when integrating hardware-in-the-loop in a distributed simulation framework. From this aspect, it is important to consider the model design and the intersections between software and hardware models. Another important issue discussed is the increased delay in overhead time when using a framework for distributed simulation.