Transcript Realtime Driving Simulation Using A Modular Modeling

Distributed Driving Simulation
Using A Modular Modeling
Methodology
Richard Romano
Realtime Technologies, Inc.
Goal of Work
• Develop Modular Modeling
Methodology That Allows For Easily
Reconfigurable Simulator Subsystems
• Applied to Complete Distributed Driving
Simulator to Maximize Reconfiguration
Speed and Model Flexibility
Vehicle Dynamics
• Vehicle
Dynamic
s Model
Is
Broken
Down
Into
Several
Reusabl
e
Modules
ForcesMergeMB
SixDOFMB
RevoluteJoint
PrismaticJoint
OffsetMB
VehCorner
Complete Vehicle Dynamics
SteeringGain
COMPONENT
PowerTrain
OffsetRR
SimpAero
FRCorner
RRCorner
AeroOffset
OffsetFR
CornerForces
SixDOFBody
FLCorner
OffsetFL
OffsetRL
RLCorner
Powertrain
• Vehicle
Subsystem
s Can Also
Be Broken
Down Into
Reusable
Modules
• Lowest
Level
Componen
ts Are C
Code
E ngine
G e a rB o x
I
D i ffe re n ti a l
T o rq u e C o n v e rte r
T o rq u e S u m
In e rti a
Powertrain
S u m FR
S u m RR
CO M P O NE NT
S u m FL
B ra ke s
S u m RL
I
FRWh e e l
I
F ro n tD i ff
RRWh e e l
I
FL Wh e e l
I
RL Wh e e l
T o rq u e C o n v e rte r
E ngine
G e a rB o x
Driving Simulator
• The
Driving
Simulator
Is Made
Up Of
Modules
CO M P O NE NT
A u d io
V e h i c l e C o n tro l s
Dyn a m ics
 ,  ,
T M 2 E u le r
M o ti o n
V i su a l s
Distributed 3 Channel Simulator
• Modules
At The Top
Level Of
Any Model
Can Be
Distributed
GroundSim
FrontLeft
Center
FrontRight
Network Properties
• Automaticall
y Builds The
Network
Topology At
Runtime
• Shared
Memory,
Reflective
Memory,
UDP/IP
• Distributed
Compilation
Performance
•
•
•
•
•
Driving Simulator Contains 52 states
Using Runge Kutta Second Order Method
MultibodyVehicle Dynamics at 400 Hz
Audio and Visual Systems at 60 Hz
Entire Simulation Ran Faster Than Realtime
On a Pentium III 450 MHz Computer
Advantage Of GUI
• Structured Framework to Build C Code
Components
• Causality
• Unified Integration Algorithm
• Built in Data Management and Plotting
• Greater Insight Into the Model
• Hierarchical Viewing
• Model and Component Reuse