Collaborative Driving Simulation

Balling, Ole; Knight, Mark; Walter, Bryan; Sannier, Adrian

doi:10.4271/2002-01-1222

Cited by 6 publications

(4 citation statements)

References 5 publications

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“…The core of the software for the graphics engine was adapted from the collaborative driving simulator mentioned previously [3]. This software takes information about a vehicle, such as its position, speed and heading received from a network and creates a real time image that reflects the state of the vehicle within the environment.…”

Section: Graphics Enginementioning

confidence: 99%

“…The C6 at Iowa State University Our application was a natural outgrowth of the application of these facilities to collaborative driving. In an NSF funded project, a VRAC based VR driving simulation was coupled over the Internet to the University of Iowa's National Advanced Driving Simulator[3]. The system allowed a group of distributed drivers to collaborate in a single virtual environment through the internet.…”

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confidence: 99%

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Tracking and control design for a virtual reality aided teleoperation system

Knutzon¹

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This thesis discusses a new teleoperation system that combines a vehicle dynamics simulation, a positional tracker and a virtual reality simulation to provide an operator environment that is safe, intuitive and easy to use. Teleoperation is the remote control of a device, which can not be operated directly, through a network or other medium. Teleoperation is useful when the operating environment creates a situation where the design of a manned vehicle is either: too dangerous, expensive, or impractical. Planetary exploration, deep sea exploration, and military reconnaissance are current examples where teleoperation has been successfully applied. These applications have exposed limitations in current teleoperation methods that arise from two principal causes: the delays in communication between operator and vehicle and the loss of situational awareness caused by information mediation. The goal of our system is to reduce the effect of these inherent problems to create a teleoperation system that behaves like direct control from the operator's perspective. In our method, we lessen the teleoperator's cognitive burden by having the operator drive a simulation of the real vehicle in real time. This simulation is then used to direct the behavior of the remote vehicle. Deviations between the simulation and the actual vehicle are monitored using a real time tracking system. The vehicle uses a correction method to modify its inputs to lessen the impact of these errors, while the operator receives visual feedback about the degree of deviation. This allows the operator to slow down or adjust the severity of their maneuvering to reduce this deviation. This thesis focuses on the development of the control and tracking systems used as components in the VR-aided teleoperation system we developed. We begin with a brief discussion of Teleoperation and its challenges and some relevant research in improving operator interfaces. We also discuss the overall architecture of this new approach, and

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Section: Graphics Enginementioning

confidence: 99%

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confidence: 99%

Tracking and control design for a virtual reality aided teleoperation system

Knutzon¹

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“…• Input control devices for the operators. Reference [6] further discusses these components of vehicle simulation and adds two additional components for a collaborative driving simulation application, collision interaction and networking management. This thesis focuses on simulating vehicle collisions, wherein there are two key challenges, detecting that a collision has occurred, and computing the effects of the collision in real time.…”

Section: Chapter2: Backgroundmentioning

confidence: 99%

Simulation of vehicle collisions in real time

Knight

Bernard²

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“…In the last ten years, virtual reality (VR) has emerged as an engineering design tool due to its ability to provide three-dimensional, interactive environments, which allow humans to interact with digital representations of products using natural human motions [1]. Increasing affordability of virtual environments has made VR applications possible in many fields, such as psychology [2], medicine [3], vehicle dynamics [4], architecture [5], education [6], and entertainment [7], A key feature of VR is the ability of a user to be completely immersed in the computer-generated world. Stuart defines immersion as "the presentation of sensory cues that convey to users the sense of being surrounded by a computer-generated environment" [8], Jayaram [1] defines the key elements of VR as: "a) immersion in a 3D environment through stereoscopic viewing, b) a sense of presence in the environment through tracking of the user and often representing the user in the environment, c) presentation of information of the senses other than vision, and d) realistic behavior of all objects in the virtual environment."…”

Section: Chapter 1 Introductionmentioning

confidence: 99%

Networked haptic interaction in virtual reality for collaborative design

Kim

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Physical constraint interaction 3.4 Voxmap PointShell (VPS) 3.4.1 Physically-based modeling in VPS 3.4.2 Object speed iv 3.4.3 Merging verses pair-wise collision detection 26 3.5 Network Architecture 29 3.5.1 Consistency-throughput tradeoff 3.5.2 Client-server architecture and peer-to-peer architecture 3.5.3 Network structure for virtual assembly 3.6 Multithreading Structure 3.6.1 Examples of the multithreading structures for NHE 3.6.2 Threading speed optimization 3.6.3 Multithreading structure 3.7 Object Synchronization 3.7.1 CPU latency 3.7.2 Discordance due to CPU latency 3.7.3 Network latency in the global network 3.7.4 Discordance and global network latency 3.7.5 RNR method 3.7.6 Timeout mechanism CHAPTER 4. APPLICATION SETUP, RESULTS AND DISCUSSION 44 4.1 Application Setup 4.1.1 Program use 4.2 Performance Measurement for Example Model Set CHAPTER 5. CONCULSION AND FUTURE WORK 54 5.1 Summary 5.2 Conclusion 5.3 Future Research APPENDIX A. SGI OPENGL PERFORMER™ INPUT FILE FORMATS APPENDIX B. EXAMPLE OF ITRI FILE FORMATS APPENDIX C. SPECIFICATIONS OF INPUT MODEL FILES REFERENCES 61 V LIST OF FIGURES 1.1 Components of a networked haptic environment in VR 4 2.1 Examples of haptic devices 8 2.2 A distributed virtual environment used to play the "Ring on a Wire" game [17] 2.3 A collaborative virtual environment with eight dynamic cubes placed in a room representation [18] 2.4 I would like to thank my committee members, Dr. Adrian Sannier, Dr. Greg Luecke, Dr. James Oliver and Dr. Shana Smith for their time and advice with my research and any other questions. I also wish to thank all of my friends and colleagues in the VRAC for their help and technical support. Finally, I want to thank my wife and parent for their care and support they have given me over the years.

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Collaborative Driving Simulation

Cited by 6 publications

References 5 publications

Tracking and control design for a virtual reality aided teleoperation system

Tracking and control design for a virtual reality aided teleoperation system

Simulation of vehicle collisions in real time

Networked haptic interaction in virtual reality for collaborative design

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