A Model Predictive Control Algorithmfor Matched Lateral/Yaw Motion

@inproceedings{Kolff2026,
title = {A Model Predictive Control Algorithm for Matched Lateral/Yaw Motion},
author = {Maurice Kolff and Daan M. Pool and Vincenzo Ricciardi and Martin Heiderich and Frank Zantner and Barys Shyrokau
},
editor = {Andras Kemeny and Jean-Rémy Chardonnet and Florent Colombet and Stéphane Espié},
doi = {https://doi.org/10.82157/dsa/2026/9},
isbn = {978-2-9573777-9-4},
year  = {2026},
date = {2026-09-16},
booktitle = {Proceedings of the Driving Simulation Conference 2026 Europe XR},
volume = {11},
pages = {67 - 74},
address = {Antibes, France},
organization = {Driving Simulation Association},
abstract = {This paper describes a novel model-predictive control motion cueing approach for driving simulation.The simulator’s lateral and yaw motions are explicitly matched through known relations from vehicle dynamics,rather than the state-of-the-art approach of optimizing for the lateral and yaw motion channels separately. Toevaluate the implementation, three representative example motion systems are considered: (MS 1) a hexapod,(MS 2) a hexapod with a yaw-drive underneath, and (MS 3) a hexapod with a y-drive underneath. Offline, openloop simulations for a driving scenario were compared objectively through the root-mean square difference. Theresults show the effectiveness of the matched approach compared to the state-of-the-art baseline approach without explicit matching. By purposefully reducing the motion in either the lateral or yaw direction, an improved motion reproduction compared to the state-of-the-art approach is achieved, which was confirmed by four drivers in a pilot study. While the presented approach requires further experimental validation, the matching of vehicle lateral and yaw motion may enable a leap towards vehicle dynamics-based motion cueing.},
keywords = {},
}

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TY  - CONF
TI  - A Model Predictive Control Algorithm for Matched Lateral/Yaw Motion
AU  - Kolff, Maurice
AU  - Pool, Daan M. 
AU  - Ricciardi, Vincenzo
AU  - Heiderich, Martin
AU  - Zantner, Frank
AU  - Shyrokau, Barys
C1  - Antibes, France
C3  - Proceedings of the Driving Simulation Conference 2026 Europe XR
DA  - 2026/09/16
PY  - 2026
SP  - 67 
EP  -  74
LA  - en-US
PB  - Driving Simulation Association
SN  - 978-2-9573777-9-4
L2  - https://proceedings.driving-simulation.org/proceeding/dsc-2026/a-model-predictive-control-algorithmfor-matched-lateral-yaw-motion
ER  - 

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