Adaptive Motion Cueing Algorithm Based on Fuzzy Logic Using Online Dexterity and Direction Monitoring

Abstract

Motion cueing algorithm (MCA) is used to reproduce the realistic driving motion feeling for the user of the virtual vehicle using linear acceleration and angular velocity motion signals while respecting the physical constrains of the simulation-based motion platform. Classical washout filter is the most common and commercial type of the MCA because of easy tuning, short processing time, and simplicity. The classical washout filter is a conservative method in using workspace because of the worst-case scenario tuning technique. Also, the existing adaptive washout filter based on time-varying cut-off frequency does not consider the dexterity of the motion platform as considering this factor leads to use the high acceleration areas of the platform workspace. In this article, an adaptive washout filter is designed and developed based on time-varying cut-off frequency using dexterity and direction monitoring factors to use the available high acceleration areas of the platform for better generation of the high-frequency part of the motion signal. The proposed adaptive washout filter is composed of three fuzzy logic units for each mode including longitudinal, lateral, yaw, and heave and each unit has two inputs including motion sensation error between the real vehicle driver and user of the motion platform and the weight of the end-effector which is a parameter based on dexterity and current position of the end-effector. Each fuzzy logic unit has also one output which is the selected cut-off frequency of the related washout filter. The proposed adaptive washout filter uses the high dexterous areas of the workspace because it considers the dexterity of the motion platform in calculation of the end-effector weight as the second input of the fuzzy logic units. The proposed adaptive washout filter is validated in MATLAB/Simulink programming language and the experimental results indicate that the proposed adaptive washout filter performed better than existing adaptive and classical washout filters in terms of motion sensation error between the driver of real vehicle and the user of motion platform as well as usage of the platform workspace.