IPSJ SIG Technical Report Vol.2012-EMB-26 No /9/10 1,a) 1,b) 1,c) 1,d) 1,e) 1,f) 1,g) 5 3D HILS HILS An Integrated Driving Simulator for Interdi

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1 1,a) 1,b) 1,c) 1,d) 1,e) 1,f) 1,g) 5 3D HILS HILS An Integrated Driving Simulator for Interdisciplinary Education of Automotive Science in Kyushu University Makoto Uchiyama 1,a) Taketoshi Kawabe 1,b) Katsumi Kesamaru 1,c) Kazunori Shidoji 1,d) Makoto Sugihara 1,e) Satoshi Toi 1,f) Tsuneo Nakanishi 1,g) Abstract: Design, manufacturing, and solution of various problems in automotive industry requires knowledges not only in information and control engineering but also in a wide range of technological fields. It is not possible to turn out engineers who can catch rapidly evoluting automotive technologies just by instructing elemental technologies and development techniques on embedded systems. Department of Automotive Science, Graduate School of Integrated Frontier Sciences, Kyushu University, provides interdisciplinary education across five fields including material and chemistry, dynamics, information and control, human science, social science. The department has introduced an integrated human-vehicle-traffic simulation system used in its education and research activities. The simulation system can reproduce visual and audio environments surrounding the driver by the real-time 3D virtual reality, compute vehicle dynamics by the HILS system, reproduce kinematic feeling of the driver, simulate behaviors of other vehicles by the real-time microscopic traffic simulator, and enable lifelike driving operation by the real vehicle cabin. The article describes the education in the department, the simulation system, and its expected use in the education. Keywords: Automotive, Graduate School, Simulator, HILS 1 Department of Automotive Science, Graduate School of Integrated Frontier Sciences, Kyushu University a) b) c) d) e) f) c 2012 Information Processing Society of Japan 1

2 1. 1 [1] [2] D g) 2. [2] 2.1 Faculty Graduate School c 2012 Information Processing Society of Japan 2

3 LSI HILS Hardware-in-the-Loop Simulator 3 10 PC PC 1 HILS Hardware-in-the-Loop Simulator ECU HILS PC 9 PC 10 PC PC PC 3D UC-win/Road 8 [3] Aimsun Transport Simulation Systems [4] c 2012 Information Processing Society of Japan 3

4 I/II/III/IV 2*4 I/II/III/IV 2*4 I 3 II/III/IV 2*3 I/II/III 1* I II D UCwin/Road UC-win/Road UC-win/Road 10 PC PC HILS 9 PC UC-Win/Road HILS UC-win/Road 50m i) ii) iii) iv) v) vi) HILS UC-Win/Road HILS UC-Win/Road HILS HILS c 2012 Information Processing Society of Japan 4

5 HILS 車両運動シミュレータ CarSim 1. 車両運動モデル キャビンシステム 運転席 6 軸モーションベース MB チャンネルオーディオシステム 振動スピーカ 2. 運転操作量 8b. 操舵反力 3. 運転操作量 + 路面データ リアルタイム PC 実時間交通流シミュレータ Aimsun 4. 自車力学的物理量 クライアント PC * 9 キャビンシステム 8a.1 ステータス 実時間 3D 7a. 視界画像 実時間 3D 7a.1 視界画像 バーチャルリアリティバーチャルリアリティ UC-Win/Road UC-Win/Road ディスプレイモニタ 8a. 目標位置 ( マスタ ) ( クライアント ) / 回転角 6. 他車状態 + 信 号機状態 5. 自車状態 9a. 音場音声 9b. 音場音声 7b. 視界画像 ディスプレイモニタ マスタ PC システム制御ユニット 2 Active Steering Wheel System ASWS 10ms Aimsun UC-Win/Road Aimsun UC-Win/Road Aimsun On/Off Aimsun Aimsun On/Off UC-Win/Road D LED PC 1 PC MB-600 [5] 2 Ethernet PC UC-Win/Road c 2012 Information Processing Society of Japan 5

6 10ms 100ms 2 ±220 mm ±190 mm ±197 mm ±20 deg ±25 deg ±18 deg ±400 mm/sec ±400 mm/sec ±400 mm/sec ±28 deg/sec ±26 deg/sec ±27 deg/sec ±0.7 G ±0.7 G ±0.7 G 600 kg 6 6 A/D CAN PC UC-Win/Road Active Steering Wheel System ASWS ASWS CAN PC UC-Win/Road HILS ASWS CAN ECU HILS LABCAR PC PC I/O ECU ECU 5 PC PC PC HILS I/O PC I/O VME PC ECU PC ECU ECU ECU I/O ECU ECU 300 ECU 50 LABCAR 3 RTPC ECU PC 3.4 HILS: Hardware-in-the-Loop Simulation Hardware-in-the-Loop Simulation HILSETAS LABCAR[6] LABCAR 3 LABCAR LABCAR c 2012 Information Processing Society of Japan 6

7 PC LABCAR CarSim[7] PC CarSim PC PC PC Ethernet PC PC CarSim UC-Win/Road LABCAR HILS PC Matlab/Simulink C ECU 3.5 Smart Eye AG Smart Eye Pro[8] ITS ITS ITS 5. 5 i) 10 PC 3D ii) 6 iii) HILS c 2012 Information Processing Society of Japan 7

8 [1], industry/industry 1g1.html, [2], [3] FORUM8: UC-Win/Road, [4] Transport Simulation Systems, [5] : 6, products/motion base/ motion base.html, [6] ETAS: LABCAR, applications ecu development-testing.php, [7] CarSim, [8] Smart Eye Pro, c 2012 Information Processing Society of Japan 8

2 R K/S K/S K/S K/S K/S K/S K/SR R K/S K/S K/S K S R K/S K/S K/S K/S K/S K/S

2 R K/S K/S K/S K/S K/S K/S K/SR R K/S K/S K/S K S R K/S K/S K/S K/S K/S K/S Graduate School of Environment and Information Sciences, Yokohama National University, Yokohama 240 8501 Faculty of Education and Human Sciences, Yokohama National University, Yokohama 240 8501 Keywords:

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