Renault’s new MPC based motion cueing algorithm development

@inproceedings{Fang2021,
title = {Renault’s new MPC based motion cueing algorithm development},
author = {Zhou Fang and Didier Wautier and Andras Kemeny},
editor = {Andras Kemeny and Jean-Rémy Chardonnet and Florent Colombet},
year  = {2021},
date = {2021-09-14},
booktitle = {Proceedings of the Driving Simulation Conference 2021 Europe VR},
pages = {149-158},
address = {Munich, Germany},
organization = {Driving Simulation Association},
abstract = {Renault has developed MPC-MCA (Model Predictive Control - Motion Cueing Algorithm) since 2004. We have implemented explicit MPC-MCA, implicit MPC-MCA. The current version is an implicit MPC-MCA using the qpOASES or KWIK solver as well as a special in-house solver to meet the requirements of high-performance driving simulators such as ROADS. In this paper, we describe some of the fundamental principles of MPC-MCA, especially for the feasibility and stability conditions that are crucial to ensure the safety of a driving simulator. The issue of numerical stability is also addressed. Formulations to correct the influence of the yaw table on the X, Y coupling motion have been proposed. Then the in-house MPC-MCA using a specific braking law to remove the workspace constraints and the terminal condition was presented. By comparing the different motion cueing results obtained in a real time driving simulator or simulated offline, the best motion cueing strategies of the MPC-MCA are proposed.},
keywords = {9DOF driving simulator, Criteria of MCA comparison, motion cueing, MPC based MCA, yaw table},
}

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TY  - CONF
TI  - Renault’s new MPC based motion cueing algorithm development
AU  - Fang, Zhou
AU  - Wautier, Didier
AU  - Kemeny, Andras
C1  - Munich, Germany
C3  - Proceedings of the Driving Simulation Conference 2021 Europe VR
DA  - 2021/09/14
PY  - 2021
SP  - 149
EP  - 158
LA  - en-US
PB  - Driving Simulation Association
L2  - https://proceedings.driving-simulation.org/proceeding/dsc-2021/renaults-new-mpc-based-motion-cueing-algorithm-development
ER  - 

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