Design And Development Of 6-DOF Driving Simulation Experiment Platform Based On Washout Filter Algorithm

According to statistics,more than 90 percent of the road traffic accidents are directly caused by drivers.Therefore,the key to protecting traffic safety and reducing traffic accidents is to study driving behavior and to clarify its influencing factors and inherent mechanism.Current mainstream experimental platform of the driving behavior study is driving experiment simulator.The fidelity and technology of it is critical to the effectiveness of the driving behavior experiment.Its advanced experimental equipment is the basic guarantee of the driving behavior research.Therefore,according to the functional requirements of the driving simulation experiment platform,the paper constructs the driving simulator with six-degree-of-freedom movement platform based on man-machine engineering principle.Besides,the paper develops control algorithm and carries out special scene test for the platform movement.Finally,the paper introduces human perception into the optimization of algorithm parameters,completing the design,the development and the optimization of driving simulator,the construction of a closed-loop process.The driving simulator comprised visual sound simulation system,driving operating system and motion platform.Visual sound simulation system and driving operating system create a realistic driving environment for drivers together.The paper designs the visual sound system and the driving operating system based on the human visual and tactile perception characteristics,and optimized it according to the driver actual experience.The paper determines the mechanical structure and the hardware of the motion platform by simulation and completes the hardware construction of the driving simulator.The motion platform of the driving simulator needs to cooperate with the visual system during the dynamic simulation process.But limited by its working space,it is impossible that the driving simulator can completely reproduce the actual driving scene.Therefore,it needs some control algorithm to ensure the reproduction of most motions at the motion platform within its limited space.Therefore,the paper chooses the classical washout filter algorithm as the main control algorithm of the motion platform.Based on the virtual scene of the driving simulator,the motion pattern and algorithm structure of the platform are determined,and the high frequency vibration and translation algorithm are designed to simulate the bumps and collision scenes to further improve the fidelity of the simulator.Under the premise of preliminary determination of the algorithm,the algorithm is programmed in Simulink environment.Simulink program module can receive movement information from the computer of virtual scene to calculate the platform movement instructions through the algorithm and send it to other platforms to implement it.In this way,the driving simulator overall construction is completed.The control algorithm parameter of the motion platform determines the fidelity of the motion simulation.Human are the only subject to evaluate the fidelity.Therefore,the paper introduces the driver into the motion platform algorithm development process to optimize the motion simulation system.First of all,based on the theory of human perception,the human perception threshold is introduced as the limiting factor of the algorithm to further solve control algorithm.Then,drivers are recruited to carry out the platform simulation experiment.By analyzing the experimental data,this paper evaluates and provides feedback on washout algorithm and the collision and bump algorithm.Eventually,the algorithm parameters with best driver experience are selected as the optimal parameters.Thus the development process of the driving simulator whose closed-loop is driver is completed.