Computationally-efficient Motion Cueing Algorithm via Model Predictive Control

Akhil Chadha*, Vishrut Jain, Andrea Michelle Rios Lazcano, Barys Shyrokau

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

Driving simulators have been used in the automotive industry for many years because of their ability to perform tests in a safe, reproducible and controlled immersive virtual environment. The improved performance of the simulator and its ability to recreate in-vehicle experience for the user is established through motion cueing algorithms (MCA). Such algorithms have constantly been developed with model predictive control (MPC) acting as the main control technique. Currently, available MPC-based methods either compute the optimal controller online or derive an explicit control law offline. These approaches limit the applicability of the MCA for real-time applications due to online computational costs and/or offline memory storage issues. This research presents a solution to deal with issues of offline and online solving through a hybrid approach. For this, an explicit MPC is used to generate a look-up table to provide an initial guess as a warm-start for the implicit MPC-based MCA. From the simulations, it is observed that the presented hybrid approach is able to reduce online computation load by shifting it offline using the explicit controller. Further, the algorithm demonstrates a good tracking performance with a significant reduction of computation time in a complex driving scenario using an emulator environment of a driving simulator.

Original languageEnglish
Title of host publicationProceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-6654-6661-5
DOIs
Publication statusPublished - 2023
Event2023 IEEE International Conference on Mechatronics, ICM 2023 - Leicestershire, United Kingdom
Duration: 15 Mar 202317 Mar 2023

Conference

Conference2023 IEEE International Conference on Mechatronics, ICM 2023
Country/TerritoryUnited Kingdom
CityLeicestershire
Period15/03/2317/03/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • driving simulator
  • model predictive control
  • Motion cueing algorithm

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