Abstract
A driving simulator reproduces the essential features of a vehicle and
provides an interface for direct human operation. It provides a safe
and less expensive way of training people how to drive.
Against the backdrop of a comprehensive literature survey on driving
simulators and their applications, this thesis endeavours to make five
unique contributions.
Many of the military armoured vehicles have eight wheels, are able
to cross trenches of approximately two meters, and can climb steps of
as high as one meter. Available research, however, focuses primarily
on the vehicle dynamics modelling of commercial four wheel vehicles.
In this thesis, a mathematical model is given for simulating the vehicle
dynamics of an eight wheel vehicle over rough terrain, taking
into account the limitations of real-time driving simulation. A discussion
of the model by Janse van Rensburg et al. is contained in a
paper which is currently under review by the International Journal of
Modern Physics C (IJMPC).
To prove the validity of a vehicle model, it is necessary to provide a
method of testing the model. Detail about the vehicle dynamics model
used is not always available when developed by a third party. This
thesis describes a “black box” testing method for the verification of
a vehicle dynamics model. An article regarding this matter by Janse
van Rensburg et al. has been submitted to the IJMPC and is currently
under review.
Normally, the focus on driving simulators is on the modelling of realistic
vehicle dynamics models. However, the design of a realistic
simulation environment is of equal importance. A human driver usually
steers one vehicle, but the rest of the vehicles used in the simulation
should be managed by a computer program. An automatic
driver model is described to be used within the simulation environment.
The current presentation is based on the published paper [86]
by Janse van Rensburg et al. (IJMPC, 16(6):895-908, 2005).
An understanding of three-dimensional coordinate system transformations
is one of the most important parts of a flight or driving simulator.
Although the procedure of using Euler angles for coordinate
system transformations is nothing new, almost no literature is available
of how it can be applied on more complex situations. This thesis
supplies more information on how a program language such as C++
could be used to apply more complex coordinate transformations in
real-life situations. Results appeared in the published paper by Janse
van Rensburg et al. (IJMPC, 16(6):909-920, 2005).
Finally the use of vocoders is proposed for the modelling of engine
sound. For a driving simulator which should be an exact replica of
a certain vehicle, an accurate sound model is of extreme importance.
By using vocoders, a technique used for the manipulation of voice, a
higher level of accuracy and realism can be obtained than with the
methods currently discussed in literature. A paper on this matter,
compiled by Janse van Rensburg et al. is currently under review by
the IJMPC.
Prof. M. A. van Wyk