nads_maritimesystemspvtltd

8/7/2019 NADS_MaritimeSystemsPvtLtd

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[ T y p e t h e c o m p a n y a d d r e s s ] Page1

Copyright2010NADS/UI. NADS/UIConfidential

NationalAdvancedDrivingSimulatorTheUniversityofIowa

2401OakdaleBlvd.

IowaCity,IA52242

Driving Simulator Proposal

ExecutiveSummary

TheNationalAdvancedDrivingSimulator(NADS)ispleasedtoprovidethefollowingproposalforDriver

TrainingSimulatorsfortheMaritimeSystemsPvt.Limited. Theproposaloutlinespartial cabdriving

simulatorswithoptionalpitch/surgeonsetcueingor6degreeoffreedom(DOF)motionbases.The

visualsaredisplayedonLCDdisplaysor3projectionscreens.NADShadtheexperienceandtechnical

capabilitytodeliverleadingedgesimulatorsthatwillfulfillyourtrainingrequirements.

Unlikemanycommercialsystems,NADStechnologyiscurrentlyinusebyNADSstaffonadailybasisto

fulfillresearchcontractsonourNADS1,NADS2,andMiniSimresearchandtrainingsimulators. NADS

staffkeepthetechnologyuptodateatalltimestosupporttheleadingedgeresearchatNADS. In

addition,wehaveagrowingcommunityofresearchersandtrainersusingNADSsimulatortechnologyin

theirprograms.


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1.MiniSimDrivingSimulators1.1 Heavy TruckMiniSim(Bus,Truck)TheMiniSimHeavyTruckdrivingsimulatorisbasedontechnologydevelopedfortheresearch

simulatorslocatedatNADS. WeproposeapartialcabMiniSimdrivingsimulatorcombinedwith42

widescreendisplays,Figure1andFigure2. Thesimulatorwillbeprovidedwiththefollowing:

HeavyTruckMiniSimcabwiththefollowingfeatures:o LCDdisplaythatwillactasthevirtualinstrumentclustero Realtruckseat,steeringwheel,pedalsandgearshifto SteeringLoadingMechanismo 2.1channelsoundsystemwithvibrationtransducerunderseatanddasho AudioAmplifiero SinglerackmountedPCwithSolidStateHardDisksinRAIDconfiguration

Three

LCD

displays

of

42

diagonal

measurement.

Fieldofview:165Horizontalx30Verticalat38viewingdistance. A20LCDdisplayfortheSimulatorOperatorGUIinterfacetostart/stopthesimulationand

choosescenarios,andusetheISAT.

MiniSimrealtimedrivingsimulationsoftware ISATscenarioauthoringtoolforcreating/modifyingscenarios DAQViewerandDAQConverttoolsfordataanalysisusingMatlab(Matlabnotincluded) 10assembled,sampledatabases PowerRequirement:1650W. Dedicated15A,120Vcircuitrequired.

OptionalAccessories

Onset

Motion

Cueing,

Pitch/Surge

6DOFMotionBaseOption VideoCapturesystem(14Channels)withoverlayofsimulatorframenumber. AdditionalPCforISATandTMT. Additionaloperatordisplaystoreflectsimulatordisplays.

TheOnsetMotionCueingoptionprovidesaccurateandlifelikecuesforbrakingandaccelerating. Many

userspreferthistypeofmotionsystemtoahexapod,asitprovidesgoodfeelforreasonablecost.


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Figure1:QuarterCabHeavyTruckMiniSimDrivingSimulator. ActualcabwillhaveLCDVirtualInstrumentCluster.

Figure2:HeavyTruckMiniSimDashboardLCDDisplay.Notegearindicatortoprovidefeedbackontheproperuseofthe

Hi/LorangeselectorandOverdrive/Directcontrols.

OnsetMotionCueing

MotionBase


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NADSDriveYardHeavy TruckTrainingEnvironment

NADShasdevelopedatrainingenvironmentspecificallyforHeavyTrucks,calledDriveYard. This

environmentincludesanareatopracticemaneuveringthetractortrailer,suchasserpentine,backing

up,anddocking. Thereisabuildingwithseveraltypesofloadingdocksandanareawithtwodifferent

inclines. Aroadnetworkthatincludestwolanehighwayandintestateroadsisalsoincludedwhere

turnsatintersectionsandhigherspeedmaneuverssuchasmerging,lanechange,andpassingcanbe

practiced.

Figure3:NADSDriveYardHeavyTruckTrainingEnvironment,showingmaneuverareaandroadnetwork.

Figure4:ScreenshotsfromNADSHeavyTruckMiniSim,showing90degparking(L)andparallelparking(R)


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1.2NADSMiniSimCabSimulator(Car,SUV,Van,Ambulance,LightTruck)

Figure5:TheMiniSimDrivingSimulatorwithPartialCab(L)

We

propose

a

partial

cab

MiniSim

driving

simulator

combined

with

plasma

displays,

Figure

5

The

simulatorwillbeprovidedwiththefollowing:

MiniSimcabwiththefollowingfeatures:o LCDdisplaythatwillactasthevirtualinstrumentclustero Realvehicleseat,steeringwheelwithcolumngearselector,andpedalso ActiveSteeringLoaderwithDCmotor/microprocessorcontrolo 2.1channelsoundsystemwithvibrationtransducerunderseato AudioAmplifierwithExternalControlso SinglerackmountedPCwithSolidStateHardDisksinRAIDconfiguration

Three1024x768plasmadisplaysof42diagonalmeasurement. Fieldofview:130Horizontalx24Verticalat48viewingdistance. A22LCDdisplaythatwillprovideoperatorswithaGUIinterfacetostart/stopthesimulation

andchoosescenarios,andusetheISATandtheTMT.

MiniSimrealtimedrivingsimulationsoftware ISATscenarioauthoringtoolforcreating/modifyingscenarios TMTvirtualenvironmentauthoringtoolwith92sampletiles Sixassembled,sampledatabases 1practicescenario,approximately5minutesinlength


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Figure6:MiniSimFootprint

Figure7:MiniSimOperatorDisplayandGUI


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2.NADSSoftware2.1Overview

TheminiSimDrivingSimulatorcontainsthefollowingcoresoftwarecomponents:

RealTimeCore SimulationControlFrontEndGUI DrivingControlFeelandInstrumentation VehicleDynamics ScenarioControl VisualRendering AudioEngine DataAcquisition

Real TimeCore

Therealtimecoreistheunderlyingenginethatcoordinatestheexecutionofthevariousfunctionalities

ofthesimulatorandprovidestherealtimedatacommunicationmechanismamongcomponents,either

throughsharedmemoryonthesamecomputer,orthroughalocalTCP/IPconnectionbetweendifferent

computers.Theothercomponentsarebuiltontopoftherealtimecore.

SimulationControlFront EndGUI

ThefrontendGUIprovidescontroltothedrivingsimulationprocessandtodatacollectionandanalysis.

Theoperatorcanstartandstopdrives,selectdifferentscenarios,playpresentationslides,andcollect

andanalyzedrivingdatathroughthefrontendGUI.TheGUIwillbedisplayedonasmalltouchpad

screen.

DrivingControlFeelandInstrumentation

Thedrivingcontrolfeelandinstrumentationcomponentreadsthedriverscontrolinputviathesteering

wheelandfootpedalsandpassesittothevehicledynamicscomponent.Italsotakesthevehicledata

suchasspeedandengineRPMandrendersthemtotheinstruments,whicharesimulatedonthemain

display.

VehicleDynamics

Thevehicledynamicscomponentprovidesaphysicsbasedvehiclemodelthatsimulatesthevehiclethe

subjectsdriveduringtheruns.ItisidenticaltothecorrespondingcomponentinthelargeNADS

simulators.Bychanginginputdata,thesamesoftwarecanbeusedtosimulatedifferenttypesof

vehicles.


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ScenarioControl

Thescenariocontrolcomponentisresponsibleforsimulatingthebehaviorofothervehiclesandobjects

inthevirtualenvironment.ItisidenticaltothescenariocontrolcomponentinthelargeNADSsimulators

andtakesthesamescenarioconfigurationfilesgeneratedbyISATasinput.

VisualRendering

Thevisualrenderingcomponentrendersthevisualscenetothemaindisplay(s)ofthedrivingsimulator.

OnePCwithahighperformancegraphicscardwillbeusedfortherenderingofuptothreemain

channels.TherendererisbuiltontopofanOpenGLbasedopensourcegraphicslibrary.

AudioEngine

Theaudioengineprovidesaudiocuestothedriver.Thecomponentproducessoundsfromtheown

vehicle,includingengine,powertrain,andtires,aswellassoundsfromthesurroundingenvironment.

ThePCthathoststheaudioengineisequippedwithaPCaudiocardandconnectedtoasetofspeakers.

DataAcquisition

ThedriversdataarecollectedatthesamefrequencythattheminiSimruns.Thesetofdatathatcanbe

collectedincludesdrivingcontrolinputs,ownvehiclestates,andscenariodata.Alldataarestoredon

fileforreplayandfutureanalysis.

2.2DependentMeasures

ValuesandlocationsofMaximumand/orMinimum

Typicalvaluesaremaximumbrakepedalforce,maximumsteeringwheelangle,maximum/minimum

longitudinal/lateralaccelerationandmaximum/minimumownvehiclespeed.Thesevaluesareusually

usedtostudytheseverityofthedriversactionormovement,particularlyusefulinexaminingstopping

orslowinginunsafecircumstancesorunsafeintersectionbehaviortypicalofimpaireddrivers.

TimetoMaximumBrakePress:Timefromthestartoftheeventuntilthedriverhasmaximumbrakedisplacement

MaximumDeceleration MaximumSteeringRate MaximumLateralAcceleration MaximumLateralJerk

Averageanddeviation

Valuescanbeusedtostudythedriversbehaviorwhiledistractedorimpaired.Forexample,thelane

deviationofthedriversvehiclehasbeenusedtostudytheinfluenceofalcoholonthedriver. These

valuesbettercapturethevariationofdriversperformanceversusmoreextremeresponsescapturedin

minimum/maximumvalues.


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Averageownvehiclespeed Lanedeviationofdrivervehicle Averagebrakepedalforce Averagesteeringwheelangle.

Reaction

time

Valuesincludeacceleratorpedalreleasetime,brakepedalpresstime,signrecognitionreactiontime,

etc.Thesevaluesareusedtostudythedriversreactiontimeduringanevent.Forexample,ifthedriver

isaskedtopressabuttonuponseeingacertainsign,thetimebetweenthesignappearingandthe

buttonpressisthesignrecognitionreactiontime.Thismeasureindicateshowfastandwelladriveris

monitoringtheenvironment,particularlyrelevantforlandmarkandtrafficsignidentificationtasks,

othertasksdesignedtoassessvisualsearchandtargetrecognition,orroutefollowingtasksusingverbal

directionstoadestinationtotestverbalmemory,visualperceptionandattention.

AcceleratorReleaseReactionTime:Timefromthestartoftheeventuntilthedriverhasreleasedtheacceleratorpedal

BrakePressReactionTime:Timefromthestartoftheeventuntilthedriverinitiallypressesthebrakepedal

ButtonpushorVerbalResponseReactionTimeSteeringResponses

Erraticsteering,leadingtoshoulderincursionsorlaneexcursions,areoftenindicatorsofincreased

driverworkload.

TimetoSteeringOnset:Timefromstartoftheeventuntilthedriverhasacorrectivesteeringinputexceeding5degrees

LengthofExcursion ExtentofExcursion AreaofExcursion DurationofExcursion

Lanechangedetection

Thismeasureincludesthedetectionofalanechange,howlongthelanechangetakes,lanechange

angle,etc.Lanechangesareverycommoneventsinreallife.

MinimumTimeToLineCrossing:Theminimumtimetocollisionfromeventonsetuntilendoftheevent.

TimeToLineCrossingAtAcceleratorRelease TimeToLineCrossingAtBrakePress TimeToLineCrossingAtSteeringOnset


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Eye tracking(Optional)

Eyetrackingisusedtostudythedriverseyemovementsduringtheevents.Measuresincludetime

spentlookingfrontward,intomirrorsorovertheshoulder.Thesemeasurescanbeusedtoexaminehow

thedriverobservestheenvironmentgenerally,aswellasforspecifictasksmeasuringattention,divided

attention,andselectiveattentionwhiledriving.

EyesonRoadTime EyesonTargetTime Eyesoffroadateventonset:Anindicationofdistraction

Crashdetection

Crashdetectionincludesdetectingthecrash,thespeedofthedrivervehicleatthetimeofthecrash,

andthespeedoftheothervehicleatthetimeofthecrash(ifapplicable). Conflictrisk.Conflictriskisalsousedtostudythedegreeofdangerbetweentheownvehicleandaleadoradjacentvehicle.The

degreeofdangerdependsonthespeedofthetwovehiclesandthedistancebetweenthem.

Collision:Indicateswhetherthedriversvehiclecollidedwiththebrakingleadvehicle RelativeVelocityatCollision:Indicatesthedifferenceinspeedatthetimethevehiclescollided. NearMisses:Indicatesthatthedriverwasnearcollidingwiththeleadvehicle. Conflict:Indicatesthatthedriverwasinconflictwiththeleadvehicle.

Timetocollision

Timetocollisionisdefinedashowlongitwouldtaketheownvehicletocollidewithanotherobjectif

theownvehiclemaintainsitscurrentstatus.

MinimumTimeToCollision:Theminimumtimetocollisionfromeventonsetuntilendoftheevent

TimeToCollisionatAcceleratorRelease TimeToCollisionatBrakePress TimeToCollisionatMaximumBrake AdjustedMinimumTTC:MinimumTimetoCollisionadjustedtoaccountforcrashes. Negative

valuesindicatehowmuchsoonerthedriverwouldneedtohaverespondedtoavoidthe

collision.


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Thefollowingsoftwarewillbeprovidedwiththesystem:

FRONTEND

CFS

MOTION

CUSTOM

DYNA

AUDIOSCNVIF

DAQ

LocalEthernet/SharedMemory

R/TSchedulerR

TScheduler

Comm.La

er

R

TScheduler

R

TScheduler

R

TSchedu

ler

R/TScheduler

R/TScheduler

R/TScheduler

Comm.La

er

Comm.La

er

Comm.La

er

Comm.Laer

Com

m.Laer

Comm.Laer

Comm.Laer

Visuals

ScenarioControl

DataCollection

EmbeddedData

MotionWashout

Motion

Base

HardDisk

Simulation

State/Mode

Control

Touchpad

Screen

Steering&

Pedals

Instruments

AudioEngine

CtrlInputs/Feedbk

Instrumentation

(Optional)

(Optional)

Custom

Hardware

Main Visual Channel(s)

Mirror(s)

Figure8 MiniSim(TM)computingarchitecturewithoptionalmotionsubsystemandcustomsubsystem


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2.3FrontEndGUI

TheoperatorusestheGraphicalUserinterface(GUI)interfacetoloadscenarios,selecttheparticipant

andrun,enablemotion,andstartandstopthescenario.

2.4MiniSimHeavyTruckSimulatorSoftware

TheMiniSimHeavyTrucktrainingsimulatorincludesthefollowingfeatures:

MiniSimrealtimedrivingsimulationsoftware:o FreightlinerCentury(Class8)validatedvehicledynamicsmodelo ManualTransmissionModels(9,13,18speedRoadranger)o Fuelusagedisplay(mile/gal,km/liter)o Ownshipmodel,includingsideviewmirrorso InstrumentPanelo AudioSamples

NADSDriveYardtruckdrivingvirtualenvironment:o Alargemaneuverarea,approximatelymilexmileinsizeo Abuildingwithavarietyofloadingdockconfigurationso Slopeso Twolanehighwayandinterstateringroadswithintersections

TrainingScenarios:o Backinguploadingdock(s),sighsideandblindsideo Righthandandlefthandturns,frominsideandoutsidelaneso Tightquartersmaneuveringo Parkingstraight,parallelo Serpentineforward,reverse

FundamentalSkillsAssessmentModuletracksthefollowingmeasuresforeachstudent:o Numberofenginestallso Numberofgeargrindso Numberofnondoubleclutchshiftso Numberofbrakeandclutchpresseso Collisions(barrel,cars,building,walls)o TimebetweenScenarioStartandScenarioStop(executiontime)o Maxspeedo Max/MinRPMo Shutdownstatus:brakeson,engineoff,ingear,flashersono Hi/LorangeandSplitterSequenceo NumberofUnintendedLaneDepartureso Observanceofpostedspeedso AverageHeadwayo Evaluatethecenteringofthetruckintheparkingslot

Auserinterfacetostart/stopthesimulationandchoosescenarios


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2.5IntegratedScenarioAuthoringTool (ISAT)

AsinglecopyoftheISATtoolwillbeincluded,whichwillallowcontroloverscenarios. Thistoolallows

userstodeterminetheplacement,timingandselectionofsigns/objectsencounteredbyparticipants.

ThetoolallowsuserstomodifyscenariosprovidedbyNADStocreatenewscenariosfromscratch.

TheNADSISATisoneofthemostfullfeaturedscenarioauthoringtoolsavailableanywhereinthe

world. Thistool,originallybuiltin1996,iscurrentlyinits4thedition. Thetoolcanbeinstalledonmost

PCdesktoporlaptops. WerecommendthatitisinstalledonaseparatePCwithaninternetconnection.

Figure9 NADSISATscenarioauthoringtool


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2.6TMT(TileMosaicTool)

AsinglecopyoftheTMTtoolwillbeincludedatnocost. TheNationalAdvancedDrivingSimulator

reliesupontheTMTsoftwareforconstructionofcorrelatedsyntheticsimulationenvironments. The

softwareandgraphicstilelibrariesaresupportedandmaintainedbyateamofstaffwithover40years

of

combined

simulation

experience.

TheTMTusesamodular,extendablelibraryofvisualandcorrelatedlogicalorvirtualcomponents. A

libraryofapproximately50tileswillbeincluded. Eachtileisconstructedasaselfcontainedsetoffiles

thatfunctionasasingleentity. Eachfilesetcontainsvisualfeatures,andmaybepopulatedwithsome

orallofthefollowing:roads,intersections,signs,collisionelements,terrainobjectsandlocation

markerscalledplaceholders. Thesetoffilesiscommonlyreferredtoasasingularentitycalleda

DatabaseTile. ThelibraryofmodularcomponentTilesiscalledaTileLibrary. TheTileMosaicTool

(TMT)isaneasytouse,graphicaluserinterfaceapplicationusedtoassemblepreviouslycreatedterrain

andcorrelateddatabases,andpublishthemintoasimulationenvironment. Simulationrendering

performancecanbeadjustedthroughtheTMTthereisnoneedtoreworksourceTiledatabasefiles.

TheTMTisprovidedbyNADSunderlicensefromRockwellCollinsSimulationandTrainingDivision,

NADSstaffhasmaintainedandupdatedthecodeforover10yearsandwillprovideallsupportand

trainingintheuseofthesoftware.

Figure10 GeotypicalTiledatabaseassemblywithintheTileMosaicTool


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2.7DataAcquisition(DAQ)FileContents

AlargecollectionofvariablesarecollectedatduringapersonsdriveontheMiniSim. Attheendofthe

drive,aDAQfileiswrittenwithalargenumberofvariablesthatlogthestateofthesimulationateach

momentduringthepersonsdrive. ADAQfilecanbeloadedandviewedintheISATwhichallows

users

to

playback

the

drive

and

view/graph

the

state

of

each

variable.

A

utility

called

daqConvert

is

also

includedthatallowsuserstoconvertaDAQfileintoMatlabortext/ASCIIformats. Anotherutilitycalled

daqViewerisalsoincludedthatprovidesaquickwaytoplotvariablesfromaDAQfile.

Figure11 daqViewerScreenshots. DaqViewerisaNADSDevelopedMatlabGUI.

Figure12:SamplePlotofTruckTireContactPatchXYLocationFromDAQFileUsingMatlab


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DriverInputVariables

Thesevariablesprovideinformationaboutthedriversinputstothedrivingsimulator. Theseinclude

informationfromthesteeringwheel,accelerator,brake,shifterandturnsignalinputs.

Driver

Input

Variables

Definition

and

Units

Collection

Frequency

AcceleratorPedalPosition Normalizedvaluebetween1and0indicatingthe

acceleratorsposition. Avalueof0impliesthatthe

acceleratorisfullyreleasedandvalueof1impliesthat

theacceleratorisfullydepressed.

60Hz

AutoTransmissionMode Indicatesthecurrentgearthatthetransmissionisin.

2=Park, 1=Reverse,0=Neutral,1=First,2=

Second,3=Drive,4=Overdrive

Differential

SteeringWheelAngle Thesteeringwheelsangle(indegrees). Values

typicallyrangebetween 202.5to+202.5degrees.

Negativevaluesindicatethatthesteeringwheelis

beingturnedtotheleftwhereaspositivevalues

indicatethatthesteeringwheelisbeingturnedtothe

right.

60Hz

CruiseControlState Thestateofthecruisecontrolbutton

0=Notavailable,1=off,2=On,3=Set/Accel,4=

Resume,5=Coast

Differential

CarHorn 1off,2 on Differential

TurnSignals Indicatesthestateoftheturnsignaldriverinput

1=noturnsignalon,2=leftturnsignalon,3=right

turnsignalon

Differential


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CollisionDetectionVariables

Thesevariablesprovideinformationaboutwhichobjectsthedriverhascollidedwithduringtheirdrive.

CollisionDetection

Variables

DefinitionandUnits Collection

Frequency

CollisionCount Howmanycollisionswiththeownshipvehiclehave

takenplacesofar. Thevaluerangesbetween0andn

wherenisthetotalofnumberofcollisionsinthe

entiredrivesofar.

60Hz

CollisionListSize Numberofobjectsthatarecollidingwiththedrivers

vehicleandarepresentinthecollisionlist. Values

rangebetween0and10.

Note:Amaximumof10collisionsarerecordedper

frameofexecution.Priorityisgiventoobjectsthatare

onthelistinthepreviousframe.

60Hz

CollisionObjectSOL

Identifiers

TheSOLidentifiersofobjectsthatarecollidingwith

thedriversvehicle. TheSOLidentifiergivestheuser

anindicationofwhattypeofobjecthascollidedwith

thedriver. Thisisanarrayof10variables.

IfthevalueoftheCollision_List_Sizeisn,onlythefirst

nvaluesinthisarrayarevalid. Eachvalidvalueranges

between1andnwherenisthehighestSOLidentifier.

60Hz

CollisionObjectType

Identifiers

Thetypeidentifieroftheobjectsthatarecolliding

withthedriversvehicle. Thisisanarrayof10

variables.

If thevalueoftheCollision_List_Sizeisn,onlythefirst

nvaluesinthisarrayarevalid. Validvaluesare:

1trajectoryfollower(DDOs)

2vehicle(canbeADOsorstaticobjs)

7trafficsigns

9obstacle

13walker

60Hz

CollisionObjectCVED

Identifiers

TheCVEDidentifiersoftheobjectsthatarecolliding

withthedriversvehicle. ACVEDidentifieruniquely

identifiestheexactobjectthatiscollidingwiththe

driversvehicle. Thisisanarrayof10variables.

IfthevalueoftheCollision_List_Sizeisn,onlythefirst

nvaluesinthisarrayarevalid. Eachvalidvalueranges

between2andnwherenisthehighestCVED

identifier.

60Hz


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ScenarioVariables

Thesevariablesprovideinformationaboutthestateofthevirtualenvironmentandthedynamicobjects

(othertraffic)aroundthedriver.

Scenario

Variables

Definition

and

Units

Collection

Frequency

DynObjDataSize Anintegerthatindicatesthenumberofscenario

objectsaroundthedriversvehiclethatinformationis

beingloggedfor.

Themaximumnumberofobjectswhichdatacanbe

loggedis20.

60Hz

DynObjSOLIdentifiers TheSOLidentifiersofscenarioobjectsaroundthe

driversvehicle. TheSOLidentifieridentifiesthe

dynamicobjectfromtheSOLlibrary. Thisisanarray

of20integers

IfthevalueoftheDataSizeisn,onlythefirstnvalues

inthisarrayarevalid. Eachvalidvalueranges


60Hz

DynObjCVEDIdentifiers TheCVEDidentifiersofscenarioobjectsaroundthe

driversvehicle. TheCVEDidentifieruniquely

identifiesanobjectintheentiresimulation. Thisisan

arrayof20integers.




60Hz

DynObjHeadings Headings(indegrees)ofscenarioobjectsaroundthe

driversvehicle. Thisisanarrayof20floatsand

objectsaresortedwiththeirdistancetothedrivers

vehicle.

60Hz

DynObjNames Namesofscenarioobjectsaroundthedriversvehicle.

Theusermayassignnamestoeachobjectusingthe

ISAT. Thisisanarrayof20chararrays. Objectsare

sortedwiththeirdistancetothedriversvehicle.




60Hz

DynObjPositions Positions(x,y,zinscenariocoordinates)ofscenario

objectsaroundthedriversvehicle. Thisisanarrayof

60floats. Objectsaresortedwiththeirdistancetothe

driversvehicle.


60Hz


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DynObjRollandPitch Rollandpitchvalues(i,j,k)ofscenarioobjectsaround

thedriversvehicle. Thisisanarrayof120floats.

Objectsaresortedwiththeirdistancetothedrivers

vehicle.




60Hz

DynObjAudioandVisual

States

Indicatesthecurrentaudioandvisualsettingsforthe

scenarioobjectsaroundthedriversvehicle. Thisisan

arrayof40integers. Objectsaresortedwiththeir

distancetothedriversvehicle.




60Hz

DynObjVelocity Velocities(inft/s)ofthescenarioobjectsaroundthe

driversvehicle. Thisisanarrayof20floatsand

objectsaresortedwiththeirdistancetothedriver.

60Hz

LeadVehicleInformation Thisarrayprovidesinformationaboutthevehiclein

frontofthedriver. Thisanarrayof9floatswiththe

followingelements:

1stCVEDidentifierofobject(1=novehicleinfront

ofdriver

2nd distancetoleadvehicle(infeet)

3rd bumpertobumpertimetoleadvehicle(in

seconds)

4th bumpertobumperdistancetoleadvehicle(in

feet)

5th timetocollision(inseconds)

6th leadvehiclevelocity(ft/s)

7thxcoordinateofleadvehicle

8thycoordinateofleadvehicle

9thzcoordinateofleadvehicle

60Hz

LaneDeviation Informationaboutthedriversvehicleanditscurrent 60Hz


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VehicleDynamicsVariables

Thesevariablesprovideinformationaboutthestateofthedriversvehicleduringthedrive.

VehicleDynamics

Variables

DefinitionandUnits Collection

Frequency

SurfaceTireIndex 0=Intersectionsanddrivableoffroad,14=Road,

20=Shoulder

Differential

ChassisCGAcceleration Thedrivervehiclesaccelerationinft/seconds2 60Hz

ChassisCGangularvelocity Thedrivervehiclesangularvelocityin

degrees/seconds

60Hz

ChassisCGOrientation Thedrivervehiclesorientationindegrees 60Hz

ChassisCGPosition Thedrivervehiclesposition(infeet) 60Hz

ChassisCGVelocity Thedrivervehiclevelocity(inmph) 60Hz

EyepointOrientation Thedriverseyepointorientation(indegrees)in

global

coordinates

60Hz

EyepointPosition Thedriverseyepointposition(indegrees)inglobal

coordinates

60Hz

HeadpointAngular

Velocity

Theheadpointsangularvelocity(indegrees/second) 60Hz

HeadpointSpecificForces Forcesbeingfeltattheheadpoint(inGs) 60Hz

LoadTorque Wheeltorqueduetoexternalforces(infootlbs.) 60Hz

NumGrids Numberofgridsusedforeachcontactpatch Differential

NumTires Numberoftiresonthevehicle(0 10) 60Hz

SteeringTorqueBackdrive Commandedsteeringwheeltorque(infootlbs.) 60Hz

TireGroundContact Thetire/terraincontactlocation(infeet) 60Hz

TireRotationalVelocity Tirerotationalvelocity(indegrees/second) 60Hz

TireSlipAngle Tireslipangle(indegrees) 60Hz

TireSlipRatio Tireslipratio(0.01.0normalized) 60Hz

TireWeightonWheels Tireweightonwheels(inlb.force) 60Hz

VehicleEngineRPM Vehicleenginerevolutionsperminute 60Hz

EngineTorque Vehicleenginetorque(infootpounds) 60Hz

VehicleHeading Vehicleheading(indegrees) 60Hz

VehicleSpeed Vehiclespeed(inmph) 60Hz

laneposition. Thisisarrayof4floats:

1st: 1(onanintersectioncorridor),1(onalane)

2nd:lateraloffsetfromthecenteroflane/corridor

3rd:widthofthecurrentlane(corridorswidthisnot

reported)

4th:Lane/corridorCVEDidentifier


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VehicleTransmissionRPM Vehicletransmissionrevolutionsperminute 60Hz

VibrationForces Commandedvibrationforces(inGs) 60Hz

VehicleCenterHeading Headingangleofwheel(indegrees) 60Hz

WheelCenterVelocity Translationalvelocityofwheelcenter(in

feet/seconds)

60Hz

WheelSpin Wheelspin(inradians/second) 60Hz

WheelSpinAngle Rotationalpositionoftire(inradians) 60Hz

WheelSteerAngle Roadwheelangle(inradians) 60Hz

2.6NADSMiniSimIncludedTilesandDatabases

Thereareapproximately90databasetilesthatareincludedwiththesystem. Theserepresentroad

segmentsthatcanbeassembledintocustomdatabasesofyourowndesignusingtheNADSTileMosaic

Tool(TMT).

Alsoincludedarethefollowingdatabasesthathavealreadybeenassembledandtested:

NADSTMTv1.2installeddatabases

demo:Databasesdevelopedfordemonstrationpurposes nadsdemo_dsc:DSCconferencedemo nadsdemo_geospecific:Geospecificcapabilitiesdemo(WestLibertyRacetrack) nadsdemo_kiosk:Outreachdatabase;3separateddatabasesononeterrain,cannotdrivefrom

onetotheother

ESC_Dry_05:Rural2lanedatabasedevelopedtotestelectronicstabilitycontrol;openloopdatabasewithdecreasingradiuscurveatnorthendofterrain

ESC_HvyT:Combinationrural,ruralsnow,freewaysnow,freewaydry;openloopdatabasedevelopedtotestelectronicstabilitycontrol

multipleEnv_01:Combinationcity,suburb,freeway,ruraldatabasedevelopedtodesignandevaluatelevelsofimpairment

o day_night:Originalstudywasnightonly,thisversionisnotthesameasthestudyversionduetochangingthenightversiontileswithdaytiles.

o snow:Thisversionisnotthesameasthestudyversion,theruraltilesaresnowcovered,otherwisethesameastheday_nightversion

o rural_long:Rural2lane,openloopdatabasedevelopedtotestantihistamineresponse,repurposedinotherstudiesaswell. Basedontheoriginalhmr/21fizerdatabase;this

versionisthesameasthestudyversionbutrenamedtofacilitatedistribution

3. InstallationandTrainingInstallationofthesimulatorswillbeconductedbyNADSstaffmembersandNADScontractors. Layout

ofthesimulatorsintheroomwillbedeterminedinconjunctionwiththeMaritimeSystemsPvt.Limited.

NotethattheMaritimeSystemsPvt.Limitedwillprovidefurnitureandpartitions.


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TrainingwillbeprovidedontheMiniSim,theISATandtheTMTsoftware. Thetrainingwilltake

approximately2fulldaysonsite. Thetrainingwillbehandsonandwillfocusonactivitiesthatwillbe

commonlyperformedbytheuser:

Turningonandoffthedrivingsimulator

Configuration

of

initialization

files

Startingandstoppingthesimulator Selectingdifferentscenarios Troubleshooting Maintenanceprocedures Proceduresforgettinghelp InstallationoftheISATonaPC HowtomodifyandcreatescenariosusingtheISAT ReceivingaNADSscenariothroughemailandrunningitonthesimulator UsingthesupplieddaqConvertutilitytoconvertthedatafilesintoasciiorMatlabformats ViewingthedatafilecollectedontheMiniSimintheISATtool

4. SupportandMaintenanceTheMiniSimsoftwaresupportcontractis$6,000persystemforeveryyearthecustomerpossessesthe

software.ThisentitlesthecustomertotelephoneandemailassistanceinusingtheMiniSimsoftware,

andtoperiodicsoftwareupdatesonascheduledefinedbyNADS. Thisalsoentitlestheuserto

enhancedaccesstotheMiniSimuserswebsite. Thecustomerwillbeprovidedwithaphonenumberandemailforcontactingtechnicalsupport. Personnelwillbeavailableforsupportduringnormal

businesshours(8am5pmCST)MondaythruFriday(exceptUniversityofIowaholidays),andwill

respondtorequestswithin24hours.

Hardware

support

and

repairs

will

be

defined

by

NADS

and

provided

at

cost.

SoftwareandhardwareenhancementswillbedefinedbyNADS,andwillbeavailableforpurchaseand

installationontermsmutuallyagreedupon.


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Figure13:NADSMiniSimUsersWebSite


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5.NADSHistoryTheNationalAdvancedDrivingSimulator(NADS)wascreatedin2001bytheUnitedStatesDepartment

ofTransportationasaworldclassresearchcenterlocatedatTheUniversityofIowa. NADSstaffwerea

subcontractorontheprojecttodelivertherealtimesimulationsystemsandvirtualenvironments.

NADSisnotacommercialenterpriseitisanotforprofitorganization.

5.1Organization

TheNADSorganizationalstructureisasfollows:

Thefollowingpersonnelwillbeinvolvedwiththisproject:

OmarAhmadOmarAhmadisaSeniorTeamLeaderattheNationalAdvancedDrivingSimulator.Since1992,his

analyticalandresearchactivitieshavefocusedonbehaviormodelingandscenariocontrolinrealtime

virtualenvironments.OmarjoinedNADSin1998andisapartoftheteamthatdesignedanddeveloped

thescenariocontrolandtherealtimevirtualenvironmentsoftwarefortheNADS.Alongwith

performingprogrammanagementactivities,heiscurrentlyleadingthevirtualenvironmentmodeling

teamattheNADS.Asakid,OmarlivedinEnglandandinPakistanbeforecomingtoIowaCityattheage

of10.Sincethen,hehascalledIowaCityhishomeandhasreceivedhiseducationatthelocalschools

andtheUniversity.Heenjoyshomeremodelingandlearninghowtotheplaytheguitar.

NADS DIRECTORHermReininga

ACTIVE SAFETY, IMPAIRMENT,

DRIVER MODELINGDr.Timothy Brown

FINANCIAL & HRMaryBender

VIRTUAL ENVIRONMENTS,

GRAPHICSShawnAllen

ASSISTANT DIRECTORJeffDolan

ASSISTANT DIRECTOROmarAhmad

NADS FACULTY GROUP

(NFG)

VISUALIZATION, DYNAMIC TERRAIN,

AUGMENTED REALITYDr.YefeiHe

OLDER DRIVERS, MOBILITY,

NOVICE DRIVERSDawnMarshall

DISTRACTION, TRAFFIC CULTUREDr.JaneMoeckli

MOTION WASHOUT,

VEHICLE DYNAMICSDr.ChrisSchwarz

STUDY COORDINATION,

CLINICAL TRIALSSueEllenSalisbury,CCRC

MINISIM, QUALITY ASSURANCEAndrewVeit

SIMULATOR OPERATIONSJeffGordon

MAINTENANCECoreyKreutz

SOFTWARE ENGINEERINGDavidHeitbrink

COMPUTING AND WEB SUPPORTSteveCable


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SteveCableSteveCablehaseightyearsofaudioexperienceandtwelveyearsofpracticedsystemsadministration.

Hisacademicandprofessionalcareerhavefocusedonpositionalaudio,digitalandanalogrecording

techniques,waveformanalysisandplatformintegration,aswellasnetworkandsystemsprogramming.

Mr.Cablehasloggedwellovereightthousandhoursastheleadrecording/masteringengineerfor

hundredsofmusicalperformers,bothprofessionalandstudent.Heisalsocreditedonseveral

commercialmusicreleases,someofwhichhavereceivedcriticalacclaim.Particularareasofexpertise

includemultitrackrecording,PCMdigitalmastering,SimPhonicsV+positionalaudioflowdesign,and

realtimeimmersivesoundreproduction.Inhisfreetime,heenjoysspendingtimewithhisfamilyand

catchingasmanyFAPremierLeaguematchesonTVaspossible.

JeffDolanJeffDolanhasthirteenyearsofhardwareengineeringexperienceinaresearchatmosphere,10yearsin

spaceresearchandthreeyearsinvehiclesimulation.Mr.Dolandesignedandintegratedmanyofthe

electronicandelectromechanicalsubsystemsofasatellitebasedtelescope.Mr.Dolansexperiencehas

focusedonelectronicsbutalsoincludesagreatdealofmechanicaldesignandintegration.Particular

areasofexpertiseincludemicrocontrollers,vehiclenetworks,audioandvideo,dataacquisition,power

systems,motorcontrol,andcircuitdesign.

YefeiHeYefeiHeisanassociateresearchscientistattheNationalAdvancedDrivingSimulator.Hereceivedhis

B.S.incomputersciencefromShanghaiJiaotongUniversity,Shanghai,China,andhisM.S.andPh.D.in

computersciencefromtheUniversityofIowa.HehasworkedatNADSsince1998,initiallyasastudent

researchassistant.Hisareasofinterestincludecomputergraphicsfordrivingsimulation,visualization

anddatabasemanagementforoffroaddrivingsimulation,PCbaseddrivingsimulatorsoftware,terrain

databaseandscenariodesigntools,andautonomousvehiclebehaviorsfordrivingsimulation.Heisalsointerestedinphotography,internationalcinema,foreignlanguages,andjazzandbluesmusic.

DavidHeitbrinkDavidHeitbrinkisaSoftwareEngineerattheNationalAdvancedDrivingSimulator.Hisprimary

responsibilityismaintainingthescenarioauthoringtool,calledISAT.Mr.Heitbrinkreceivedhis

BachelorsofSciencefromtheUniversityofToledoinComputerScienceandEngineering.Hecontinued

toreceiveisMasterofScienceinEngineeringattheUniversityofToledointhespringof2005.Mr.

HeitbrinkisoriginallyfromCincinnatiandlivedthereuntilHemovedtoToledouponenteringthe

UniversityofToledo.BeforecomingtoworkattheNationalAdvancedDrivingSimulator,hehadbriefly

workedatDavisBesseNuclearPowerStationinOakHarborOhio,andforAlcoaFujikurainSanAntonio

Texas,primarilyasadatabasedeveloperatbothpositions.HealsoworkedattheUniversityofToledoas

labinstructor,instructingstudentsonUNIXsystemsprogrammingandmicrosystemdesign.


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AndrewVeitAndrewVeitistheMiniSimProgramManagerattheNationalAdvancedDrivingSimulator(NADS).

BesideshisworkwithanyandallthingsMiniSim,hisresponsibilitiesincludedevelopingmotion

performanceanalysisandtrackingmethods,providingfeedbackontheeffectivenessofsystem

improvements,andprovidingengineeringsupportformaintenanceactivities.Hehasalsoengineered

componentstoimproveNADSmotionsystemperformanceandhasoverseentheirinstallation.Priorto

joiningtheNADS,Mr.Veithadnineyearsofexperienceinthedesignanddevelopmentofmechanical

testsystemsbasedonservohydraulicandservoelectricactuationtechnologies,testengineering,and

consulting.Mr.VeitwasanemployeeofMTSSystemsCorporationforsixyearsdoingproductdesign

anddevelopmentandcustomtestsystemdesign.Hisproductdevelopmentexperienceincludes

mechanicalandsystemdesign,EMCandsafetycompliance(CEmarkandUS/Canadiansafetylisting),

performanceanalysis,manufacturingsupport,andinstallationandtrainingatcustomersites

domesticallyandoverseas.HewasanemployeeofSouthwestResearchInstitute(SwRI)forthreeyears

doingtestengineering,projectmanagement,testsystemdesign,analysis,reportwriting,andconsulting

foradiverserangeofcommercialandmilitaryclients(e.g.agricultural,biomedical,petroleum,ground

vehicle,andaerospace).Mr.VeitearnedhisB.S.andM.S.degreesinmechanicalengineeringatthe

UniversityofIowa,wherehisthesisworkwasinfatigueandfracturemechanics.Heisaregistered

ProfessionalEngineerinNorthCarolina. Forfun,AndrewisamentorfortheU.S.FIRSTrobotics

competitionforlocalhighschoolstudents.

5.2PastSimulatorProjects1. TruckDrivingSimulatorforaSwisssimulatorcompany(ContravesAG). NADSsuppliedrealtime

softwaremodulesandofflinetools. Integrationwasdoneatthecustomersite.


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2. NADSMiniSimcabdrivingsimulatorsuppliedtotheUniversityofWashingtonin2009. Thissystemincludedadaptivecruisecontrolhardwareandsoftware.

3. NADSMiniSimcabdrivingsimulatorsuppliedtoMichiganTechnologicalUniversityin2009.


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4. NADSMiniSimHeavyTruckDrivingSimulatortotheUnitedTribesTechnicalCollegeinBismark,ND. Thisprojectrequiredsignificantdevelopment,includingvisualandlogicaldatabases,

MatlabSimulinkmodelsofmanualtransmissions,anassessmentmodule,andsignificantwork

collectingaudiosamples. Thesystemwasalsodesignedtobeportableinitsowntrailer.


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6.OptionalAccessoriesVideoDataAcquisitionSystem

Avideoacquisitionsystemcanbeincorporatedintothesimulatorasanoption. Atypicalvideo

acquisitionsystemconsistsofthefollowingitems:

FourVideoCamerasinstalledinthecab(face,hands,feet,andviewoutwindshield) Quadsplitbox Serialtitler VideocapturePCandsoftware

Theresultingimageisshownbelow:

Figure14:Quadsplitimage

Theserialtitlerisusedtooverlayselectsystemvariableontooneofthevideoimages. Possibledata

includetheparticipantID,runID,date,time,speed,andframenumber. Thequadsplitsignalisfedtoa

videocapturecardinaPCandsavedtodisk. Therecordingofthequadsplitvideoisstartedand

stoppedwiththesimulatorstates.


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Intercom

Anintercomcanbeintegratedintothesimulatoratadditionalcosttoprovidecommunicationsbetween

theoperatorandtheparticipantinthecab. AtypicalsystemfromClearcomconsistsofthefollowing:

PLproMS704 Fourchannelmainstation KB702 Speakerstation HB702 Remoteheadsetstation RS601 Beltpacks Qty.3 CC26KX4 Headsets Qty.3 IC50 50ft3pinXLRcable

Figure15:IntercomSystem


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7. CostProposalThefollowingcostsrepresentthesimulatorcost,FreeOnBoard(F.O.B.)IowaCity,Iowa,USA.

Applicableshipping,taxes,customsandimportdutiesarenotincluded.

*Note:SpecificationssubjecttochangeatNADSdiscretionduetotechnologyadvancements

PleasecontactusfordetailsaboutpaymenttermsbeforesendingaPO:

Asamplesoftwaretransferagreementisattachedforyourinformation;theactualagreementwill

originatefromtheUIResearchFoundationifyouchoosetomoveforwardwiththepurchase.

AlsoattachedisasampleresearchcontractthatwouldcovertheMiniSimhardware;theactualcontract

willoriginatefromtheUIifyouchoosetomoveforwardwiththepurchase.

Formoreinformation,pleasecontact:

AndrewVeit,(319)3354361,[email protected]

Description Cost,US$

Heavy TruckMiniSimSimulator 55,000$ ea

HeavyTruckModel

Quartercab

42"LCD/PlasmaDisplays

MiniSimPC

MiniSimSoftware

ExistingHeavyTruckScenarios

1/4CabMiniSimDrivingSimulator 55,000$ ea

Car,SUV,PickupTruckModels

Quartercab

42"LCD/PlasmaDisplays

MiniSimPCMiniSimSoftware

ExistingSafeDriverTrainingScenarios

MiniSimSoftwareSupport(peryear,persystem) 10,000$ ea

InstallationandTraining TBD

Description Cost,US$VisualTrainingEnvironmentDevelopment TBD

DependantonCustomerRequirements TBD

AdditionalTrainingScenarioswithEvaluation TBD

DependantonCustomerRequirements

Video

Capture

System

with

Quad

Split 22,000$

eaOnsetMotionCueingMotionBase 20,000$ ea

Pitch/SurgeCombinedMotion

6DOFMotionSystem(hexapod) 100,000$ ea

IntercomSystem 14,000$ ea

nads_maritimesystemspvtltd

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