Design and Scilab implementation of a motion cueing algorithm for a 6 degrees of freedom driving simulator

Łukasz Borawski, Rafał Grzeszczyk

ODIUT Automex sp. z o.o.

Paweł Fuć, Piotr Lijewski

Poznan University of Technology


High class driving simulators are contemporarily utilized in numerous fields of applications. These applications are e.g. education, military, research, entertainment etc. Such a simulator consists of many cooperating subsystems, both hardware and software. One of those subsystems is a motion cueing algorithm responsible for generating motion cues in the driver’s cabin. These cues are produced by a 6 degrees of freedom motion platform and should imitate as good as possible the real motion effects experienced by drivers in a real vehicles. Generating smooth and lifelike cues is crucial not only in terms of the simulation’s fidelity but also with regards to the so called “simulator sickness”. This article presents the design and implementation of a motion cueing algorithm based on the washout-filter approach. The algorithm has been implemented in Scilab and tested on some model input trajectories. After being successfully tested the algorithms has been applied to a driving simulator and its correctness has been proven.