The system development of unmanned vehicle for the teleoperated system interfaced with driving simulator

Abstract

The integration of a driving simulator and an unmanned vehicle by means of a performance concept is suggested. Autonomous navigation is one of the most difficult research topics, having constraints on mobility and speed, and lack of environmental information. However, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. The master system has a host computer and simulator and the slave system is electronic vehicle system. The slave vehicle system consists of three parts. First, laser sensor system for keeping the front sensory system and ultrasonic sensor system for escaping collision at the side. Second, acceleration system and brake control system for longitudinal motion control. Third, steering control system for lateral motion control. In this research, mechanical and electronic parts are implemented to operate unmanned vehicle as a whole-integrated system. Driving simulator has a 6 degree-of-freedom motion-base and 3-channel fixed-based simulator. They are fully interactive, highly realistic and, based on personal computer, can be updated easily. Driving simulator is constituted by a vision system, a sound system, the system for control force loading and the 6-axis Stewart platform for motion base. This paper focuses on the integration of remote controlled unmanned vehicle and driving simulator. The vehicle mainly controlled lateral direction and longitudinal direction with actuators for controlling vehicle movement and sensors for closed-loop system.