The NADS MiniSim driving simulator is a PC-based simulator system equipped with the same world-class technology used in the NADS-1 simulator. It is a low-cost alternative to the more sophisticated NADS-1, and has a more flexible structure. It can be easily customized to address specific needs while remaining compatible with the powerful tools developed at NADS for creating realistic virtual environments and complex scenarios.

Advanced Simulator in a Small Package

The MiniSim is a modular system that can be configured for different needs. It uses two regular PCs as the simulator computational engine. Off-the-shelf products can be used for local network connection, visual display, audio components, steering wheel and pedals, and instruments. The MiniSim’s software consists of nine modules: front end operator GUI, terrain database manager, vehicle dynamics, scenario/behavior controller, visuals, audio, control input/feedback system, motion controller, and run configuration manager. This structure is almost identical to that of the software running on the NADS simulator, and most of the upper-level source codes are shared, including terrain database manager, vehicle dynamics, scenario/behavior controller, and run configuration manager. The MiniSim does not require all eight modules to be present, although some modules are considered necessary for the most basic driving simulator configuration. These include the control input/feedback system, terrain database manager, vehicle dynamics, and visuals.

Front End Operator GUI. The front end GUI provides a user-friendly interface that allows the operator of the MiniSim simulator to select the content of the simulator run and take full control of each drive and playback.

Visuals. The visuals module of the MiniSim is developed from a high-performance graphics library ideally suited for real-time simulation. The library can be modified to meet special needs in visualization, a capability of NADS scenario authoring tools not possible with many commercial graphics libraries. In addition, it is a cross-platform library that can run on many general-purpose computers instead of requiring expensive special image generators in order to operate. Hardware updates can be performed easily, quickly, and at a relatively low cost.

Vehicle Dynamics and Terrain Database Manager. The vehicle dynamics module uses the same world-class physics-based dynamics model that drives NADS-1, NADSDyna. It calculates real-time high-fidelity vehicle movement, taking the same vehicle model data as NADS-1 as input. Therefore, the MiniSim can be used as a validation tool for developing new vehicle dynamics models because the results will be identical to those from NADS-1. The terrain database management module provides properties of the terrain surface, such as elevation, on which the vehicle drives. It can run on-road and off-road databases for respected simulation environments.

Behavior/Scenario Controller. The core code of the behavior/scenario controller is also identical to that used on NADS-1. Several tools have been developed and refined to design realistic virtual environments and complex scenarios for the simulation tasks run on NADS-1 and on the MiniSim. Again, the MiniSim can be used for validating visual database and scenario designs and improvements in vehicle behaviors.

Control Input/Feedback System. There are several options for the control input/feedback system on the MiniSim. For the most realistic driving experience, a cab modified from a real vehicle can be custom built, with force feedback and full instrumentation. In a less expensive configuration, an off-the-shelf steering wheel and pedals set can be installed, with a choice of genuine instrument panel, simplified gauges, or virtual panel shown in the visual display. For a baseline set-up, keyboard and mouse control is sufficient for driving the MiniSim simulator.

Motion Controller. The MiniSim system, although very compact, can also have a motion system. After the simulator’s motion system is chosen, specific software will be designed for its operation.

Flexible System for Customized Needs

The software architecture and hardware requirements of the MiniSim simulator are flexible enough to accommodate the most specific needs of customers. We have already built several very different driving simulators based on the MiniSim structure:

The Corvette simulator is a three-channel display stationary simulator using a genuine partial Corvette cab, with original steering wheel, pedals, and instrument panel. It was designed to be placed in a trailer and demonstrate driving safety to teenage drivers.

The John Deere simulator is a MiniSim simulator. It has a fully instrumented John Deere tractor cab, with a single-channel semi-sphere shaped display that provides 180 degrees of view, including some visibility of the ground. The cab and the display are mounted on a motion base.

The Allegra simulator is a single-channel display, stationary simulator that uses a custom-made cab from genuine parts of a Ford Focus vehicle, with off-the-shelf steering wheel and pedals, and an original instrument panel. This simulator has extended capability for drive playback and performance analysis to demonstrate the effects of medications on drivers.

 

The Kiosk simulator is a low-cost, single-channel display stationary simulator using off-the-shelf steering wheel and pedals, virtual instruments, and no cab. It was built to be part of an outreach and public service kiosk in a shopping mall.