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Archive of Mechanical Engineering

The Journal of Committee on Machine Building of Polish Academy of Sciences

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Real-Time Human in the Loop MBS Simulation in the Fraunhofer Robot-Based Driving Simulator

Symulacja w Czasie Rzeczywistym układu Wieloczłonowego z Człowiekiem w Pętli w Opartym na Robocie Symulatorze Kierowania Pojazdem Opracowanym w Instytucie Fraunhofera

Michael Kleer
  • Fraunhofer Institut for Industrial Mathematics ITWM, Fraunhofer Platz 1, 67663, Kaiserslautern, Germany
  • Email:
/ Andrey Gizatullin
  • Fraunhofer Institut for Industrial Mathematics ITWM, Fraunhofer Platz 1, 67663, Kaiserslautern, Germany
  • Email:
/ Klaus Dreßler
  • Fraunhofer Institut for Industrial Mathematics ITWM, Fraunhofer Platz 1, 67663, Kaiserslautern, Germany
  • Email:
/ Steffen Müller
  • Fraunhofer Institut for Industrial Mathematics ITWM, Fraunhofer Platz 1, 67663, Kaiserslautern, Germany
  • TU Berlin, Gustav-Meyer-Allee 25, 13355 Berlin, Germany
  • Email:
Published Online: 2014-08-15 | DOI: https://doi.org/10.2478/meceng-2014-0016


The paper encompasses the overview of hardware architecture and the systems characteristics of the Fraunhofer driving simulator. First, the requirements of the real-time model and the real-time calculation hardware are defined and discussed in detail. Aspects like transport delay and the parallel computation of complex real-time models are presented. In addition, the interfacing of the models with the simulator system is shown. Two simulator driving tests, including a fully interactive rough terrain driving with a wheeled excavator and a test drive with a passenger car, are set to demonstrate system characteristics. Furthermore, the simulator characteristics of practical significance, such as simulator response time delay, simulator acceleration signal bandwidth obtained from artificial excitation and from the simulator driving test, will be presented and discussed.


Artykuł zawiera przeglĄd architektury sprzętowej i charakterystyk systemowych symulatora kierowania pojazdem opracowanego w Instytucie Fraunhofera. Na wstępie zdefiniowano i przedyskutowano szczegółowo wymagania dla modelu czasu rzeczywistego i obliczeń w czasie rzeczywistym. Zaprezentowano takie aspekty systemu, jak opóźnienie transportu i obliczenia równoległe złoŻonych modeli czasu rzeczywistego. Pokazano ponadto działanie interfejsu pomiędzy modelem i systemem symulatora. W celu zademonstrowania charakterystyk systemu wykonano dwa testy symulatora: w pełni interaktywny test kierowania koparkĄ kołowĄ w nierównym terenie, oraz test kierowania samochodem pasaŻerskim. Co więcej, charakterystyki symulatora majĄce znaczenie praktyczne, takie jak opóźnienie czasowe odpowiedzi symulatora, pasmo sygnału przyspieszenia symulatora wyznaczone przy sztucznym pobudzeniu i z testu kierowania pojazdem zostały zaprezentowane i przedyskutowane.

Key words:: driving simulator; human in the loop; real-time MBS simulation


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About the article

Published Online: 2014-08-15

Citation Information: Archive of Mechanical Engineering, ISSN (Online) 2300-1895, DOI: https://doi.org/10.2478/meceng-2014-0016.

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© 2014 Michael Kleer et. al.. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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