Construction of Riding Simulator for Two-wheeled Vehicle (original) (raw)
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Open-loop test and validation of a new two-wheeled vehicle riding simulator
2007 European Control Conference (ECC), 2007
This paper highlights the mechanical and mechatronic properties of a two-wheeled driving simulator. It gives also the important motivation which facilitates the specification movement and inertial effect choice. Considering the principles purpose of this simulator: • as a training tool for new riders with different scenarios: normal traffic environment, dangerous riding situations (avoidance, emergency braking, nearly failling or slipping situations, bad weather conditions, etc.) • to study riders behaviours in such situations the study has lead to an original 5 degree of freedom (DOF). These mobilities consisting in roll, yaw, pitch and 2DOF applied on the handlebar. The kinematics of the platform is lightly described. Finally, some performances results are shown validating the initial requirement.
Open-Loop Tests and Validation of a New Two-Wheeled Vehicle Riding Simulator
HAL (Le Centre pour la Communication Scientifique Directe), 2007
This paper highlights the mechanical and mechatronic properties of a two-wheeled driving simulator. It gives also the important motivation which facilitates the specification movement and inertial effect choice. Considering the principles purpose of this simulator: • as a training tool for new riders with different scenarios: normal traffic environment, dangerous riding situations (avoidance, emergency braking, nearly failling or slipping situations, bad weather conditions, etc.) • to study riders behaviours in such situations the study has lead to an original 5 degree of freedom (DOF). These mobilities consisting in roll, yaw, pitch and 2DOF applied on the handlebar. The kinematics of the platform is lightly described. Finally, some performances results are shown validating the initial requirement.
Design and Modeling of a New Motorcycle Riding Simulator
Proceedings of the ... American Control Conference, 2007
This paper presents the various stages for the construction of a two wheeled riding simulator. Despite its simplicity, the particularity of this simulator comes from the possibility to reproduce most of the movements and the inertial effects allowing to perceive sensations close to reality cases. This simulator has been developed for two purposes: • as a training tool for new riders with different scenarios: normal traffic environment, dangerous riding situations (avoidance, emergency braking, nearly failling or slipping situations, bad weather conditions, etc.) • to study riders behaviours in such situations Our studies have lead to an original 5 degrees of freedom (DOF) mechanical platform including a double haptic feedback on the handlebar. The three basic movements are classical and consist of pitch, roll and yaw one. The choices of the platform movements and the system actuation are motivated and described. Also, some performances results are shown validating the initial requirements.
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This thesis presents the development of an immersive, high-fidelity virtual reality (VR) cycling simulator, where one can ride a stationary bicycle in a simulated virtual environment and interact with other road users (e.g., drivers). Inspired by driving simulators, a VR cycling simulator has potential to become a valuable tool for conducting traffic safety research involving bicyclists. The hardware and software development and integration were described in detail as a reference for others that may want to build similar systems. The VR simulation includes a representation of a real-world urban environment with a road network, and utilizes a VR headset coupled with an appropriate stationary bike system setup. The first phase of development was focused on an immersive, interactive simulator, in which users are able to control their movements within the virtual environment. They control their speed by pedaling the stationary bike and can steer using buttons on the handlebar-mounted co...
Motorcycle simulator subjective and objective validation for low speed maneuvering
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2022
The use of driving simulators for training and for development of new vehicles is widely spread in the automotive industry. In the last decade, a few motorcycle riding simulators have been developed for similar purposes, with focus on maneuvering at high speed. This article presents the subjective and objective evaluation of a motorcycle riding simulator specifically for low speed longitudinal and lateral maneuvering, between 0 and 10 ms-1. An experiment was conducted with and without platform motion, focusing on three maneuvers: acceleration from standstill, braking to standstill and turning at constant speed. Participants briefly evaluated the fidelity of the simulator after each maneuver and more extensively after each motion condition. Behavioral fidelity was evaluated using experimental data measured on an instrumented motorcycle. Overall, the results show that the participants could reproduce the selected maneuvers without falling or losing balance, reporting a sufficient level of simulator realism. In terms of subjective fidelity, platform motion had a positive effect on simulator presence, significantly increasing the feeling of being involved in the virtual environment. In terms of behavioral fidelity, the comparison between the simulator and experimental results shows good agreement, with a limited positive influence of motion for the braking maneuver, which indicates that for this maneuver the use of motion is beneficial to reproduce the real-life experience and performance.
inertia was tuned to obtain a motorcycle-like steering response. Finally, the calibrated car model was implemented into a low-complexity motorcycle simulator for objective validation. It was verified that an understeering single-track model with high yaw inertia has amplitude and phase responses analogous to a motorcycle. The experimental results of the simulator test confirmed these findings for a diverse set of manoeuvres, validating the method. This straightforward approach allows the development of low-complexity simulators with good steering fidelity, using an objective procedure to reproduce the behaviour of a chosen motorcycle class. In addition, the low computational cost of the model makes it a potential candidate for use in assistance systems. Keywords Motorcycle simulator • Car and motorcycle manoeuvrability • Car and motorcycle dynamics • Simulation • Frequency response and transfer functions • Objective and quantitative validation 1 Introduction Riding simulators are a fundamental tool for driver training and the development of assistance systems. However, the complexity of realistically simulating two-wheeled vehicles has meant that the development and adoption of motorcycle simulators have Abstract Motorcycle simulators are employed for rider training, studying human-machine interaction, and developing assistance systems. However, existing simulators are either too simple and, therefore, unsuitable or significantly complex, with higher hardware costs and familiarisation times. This study aimed to use a tuned single-track car model as the basis of a motorcycle simulator, leading to considerable software simplification while preserving its fidelity. In particular, the approach defined a conversion between motorcycle steering torque and car steering angle. It modified the parameters of the latter to reproduce the response of various motorcycle models in quasistatic and transient conditions for different speeds and radii of curvature. A robust manoeuvrability index was chosen. For the car, it was possible to calculate it from its parameters analytically. Next, the car yaw
Mechatronics, Design, and Modeling of a Motorcycle Riding Simulator
IEEE/ASME Transactions on Mechatronics, 2010
This paper describes a new motorcycle riding simulator whose purpose is twofold: (1) it can be used as a training tool for new riders in different scenarios, such as a normal traffic environments or in dangerous riding situations (avoidance, emergency braking, nearly failing or slipping situations and bad weather conditions); and (2) it can be used to study cyclist behavior in such situations and rider-motorcycle interaction. Our studies have led to the development of an original five degrees-of-freedom (DOF) mechanical platform including double haptic feedback on the handlebar. The remaining components are the basic movements consisting of pitch, roll, and yaw. These components are gathered in a parallel kinematics-type platform to enhance the movement bandwidth of the two-wheeled riding simulator. Despite its simplicity, the particular appeal of this simulator lies in the possibility of reproducing important motorcycle movements and inertial effects which allow for the perception of sensations close to reality. The motivation behind the choice of platform movements and system actuation are described. Also, theoretical issues (modeling, identification and control aspects) and performance results are provided.
A Virtual Rider for Two Wheeled Vehicles CDC10 RG 1
This work presents a virtual rider for the control of nonlinear motorcycle models, where the target motion is defined in terms of road path and speed profiles. The virtual rider inputs are the steering torque, the rear wheel driving/braking torque and front wheel braking torque. The virtual rider capability is assessed by guiding a nonlinear motorcycle model in very demanding cornering maneuvers, with roll angle up to 50 , and strong accelerations which lead the vehicle to the stoppie/wheeling extreme conditions.
Motorcycle Riding Simulator Controllability and Simulator Sickness: A Proof-of-Concept System
Proceedings of the 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications
Driving a motorcycle relies on the feedback provided by several human sensory systems, on the one hand, and anticipation of the consequences of control actions, on the other hand. Driving simulators aim to create the illusion of driving by stimulating the driver's sensory systems. However, a significant number of drivers experience simulator sickness, which hinders the usefulness of driving simulators in their applications, such as driving behavior research or training / retraining. Simulator sickness occurrence is often attributed to sensory conflict. In this work, we propose an approach to understanding simulator sickness by considering the need for coherence between the complexity of the vehicle model and the complexity of the simulator from a hardware point-of-view, which constrains the fidelity of the reproduced sensory stimuli. We then describe the design of a proof-of-concept system that considers the particular issue of haptic feedback for the handlebars of a motorcycle-riding simulator. We will use this system in further experiments to demonstrate the impact of the coherence or mismatch of those two aspects on controllability and simulator sickness occurrence.
Development of Motorcycle Simulator in the Immersive Projection Display Environment
In this paper, we discuss about development of a motorcycle simulator in respect to riders' viewpoints. The immersive projection display environment is well known to cover a wide range of users' field of view, which is useful to provide high-realistic views in the virtual environment. Utilizing this immersive virtual environment, we constructed a motorcycle simulator presenting real-size driving environment. In particular, we conducted experiments in different driving environments including real world driving. We measured viewpoint movements using an eye-tracker to observe the difference of viewpoint movements between driving environments. To omit driving habits, we conducted experiments and analyses between the same subjects. From the obtained results, we conclude that using the immersive projection display environment is effectual for motorcycle simulation.