Vehicle motion simulators, a key step towards road vehicle dynamics improvement

doi:10.1080/00423114.2015.1039551

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Vehicle motion simulators, a key step towards road vehicle dynamics improvement

Journal Article•DOI•

Vehicle motion simulators, a key step towards road vehicle dynamics improvement

Navid Mohajer¹, Hamid Abdi¹, Kyle Nelson¹, Saeid Nahavandi¹•Institutions (1)

Deakin University¹

15 May 2015-Vehicle System Dynamics (Taylor & Francis)-Vol. 53, Iss: 8, pp 1204-1226

TL;DR: In this article, the authors review existing road vehicle motion simulators and discuss each of the major subsystems related to the research and development of vehicle dynamics and explore the possibility of using motion simulator to conduct ride and handling test scenarios.

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Abstract: Real road vehicle tests are time consuming, laborious, and costly, and involve several safety concerns Road vehicle motion simulators (RVMS) could assist with vehicle testing, and eliminate or reduce the difficulties traditionally associated with conducting vehicle tests However, such simulators must exhibit a high level of fidelity and accuracy in order to provide realistic and reliable outcomes In this paper, we review existing RVMS and discuss each of the major RVMS subsystems related to the research and development of vehicle dynamics The possibility of utilising motion simulators to conduct ride and handling test scenarios is also investigated

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Handbook of driving simulation for engineering, medicine and psychology

[...]

Karel Brookhuis, Dick de Waard

01 Jan 2011

221 citations

Journal Article•DOI•

Review and performance evaluation of path tracking controllers of autonomous vehicles

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Mohammad Rokonuzzaman¹, Navid Mohajer¹, Saeid Nahavandi¹, Shady Mohamed¹•Institutions (1)

Deakin University¹

01 May 2021-Iet Intelligent Transport Systems

42 citations

Journal Article•DOI•

Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

[...]

Amin Maghareh¹, Christian E. Silva¹, Shirley J. Dyke¹•Institutions (1)

Purdue University¹

01 Feb 2018-Mechanical Systems and Signal Processing

TL;DR: In this paper, a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a non-linear physical specimen is presented.

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32 citations

Journal Article•DOI•

A Review of Driving Simulation Technology and Applications

[...]

Lucas Bruck¹, Bruce Haycock², Ali Emadi¹•Institutions (2)

McMaster University¹, Toronto Rehabilitation Institute²

01 Jan 2021

TL;DR: A review of driving simulator components, including the vehicle dynamics model, the motion system, and the virtual environment, and how they interact with the human perceptual system in order to create the illusion of the driving are provided.

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Abstract: Driving simulation has become a very useful tool for vehicle design and research in industry and educational institutes. This paper provides a review of driving simulator components, including the vehicle dynamics model, the motion system, and the virtual environment, and how they interact with the human perceptual system in order to create the illusion of the driving. In addition, a sample of current state-of-the-art vehicle simulators and algorithms are described. Finally, current applications are discussed, such as driver-centered studies, chassis and powertrain design, and autonomous systems development.

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30 citations

Cites background or methods from "Vehicle motion simulators, a key st..."

...The vestibular system is an inner ear complex comprising semi-circular canals and otolith organs, to recognize linear as well as angular motion [9]....
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...done as in [9] through the use of genetic algorithm (GA), or as in [50] using linear quadratic regulator method (LQR) together with GA, or simply the linear quadratic optimization...
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...As stated in [9] the accurate vibration on the steering wheel, mimicking tire-road interaction, provides cues for speed and trajectory, enhancing driver perception....
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...aerodynamics, tire interaction with the surface, and driveline [9]....
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...Additional reviews were presented in [7], with example applications in medicine and engineering, in [8], that details motion system design, and in [9], where the focus is on the...
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Journal Article•DOI•

Directional and sectional ride comfort estimation using an integrated human biomechanical-seat foam model

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Navid Mohajer¹, Hamid Abdi¹, Saeid Nahavandi¹, Kyle Nelson¹•Institutions (1)

Deakin University¹

01 Sep 2017-Journal of Sound and Vibration

TL;DR: In this paper, a 3D passive HBM for a seated human is considered and the human-seat interaction is established using a nonlinear vibration model of foam with respect to the sectional behaviour of the seat foam.

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29 citations

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Open Access

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Book•

Vehicle dynamics and control

[...]

Rajesh Rajamani

31 Oct 2005

TL;DR: In this paper, the authors present a mean value model of SI and Diesel engines, and design and analysis of passive and active automotive suspension components, as well as semi-active and active suspensions.

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Abstract: 1. Introduction.- 2.Lateral Vehicle Dynamics.- 3. Steering Control For Automated Lane Keeping.- 4. Longitudinal Vehicle Dynamics.- 5. Introduction to Longitudinal Control.- 6. Adaptive Cruise Control.- 7. Longitudinal Control for Vehicle Platoons.- 8. Electronic Stability Control.- 9. Mean Value Modeling Of SI and Diesel Engines.- 10. Design and Analysis of Passive Automotive Suspensions.- 11. Active Automotive Suspensions.-12. Semi-Active Suspensions.- 13. Lateral and Longitudinal Tires Forces.- 14. Tire-Road Friction Measurement on Highway Vehicles.- 15. Roll Dynamics and Rollover Prevention.- 16. Dynamics and Control of Hybrid Gas Electric Vehicles.

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3,669 citations

"Vehicle motion simulators, a key st..." refers methods in this paper

...[59] A complete vehicle dynamics model should have the capability to be integrated with various state-of-the-art systems, including collision avoidance, ACC, driver assistance, anti-lock brake, traction control, and SCS.[60] Such integration capability could be used for validation and verification of these systems through the simulator....
[...]

Book•

Theory of Ground Vehicles

[...]

J.Y. Wong

13 Dec 1978

TL;DR: In this article, the authors present an approach to the prediction of normal pressure distribution under a track and a simplified method for analysis of tracked vehicle performance, based on the Cone Index.

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Abstract: Preface. Preface to the Third Edition. Preface to the Second Edition. Preface to the First Edition. Conversion Factors. Nomenclature. Introduction. 1. MECHANICS OF PNEUMATIC TIRES. 1.1 Tire Forces and Moments. 1.2 Rolling Resistance of Tires. 1.3 Tractive (Braking) Effort and Longitudinal Slip (Skid). 1.4 Cornering Properties of Tires. 1.4.1 Slip Angle and Cornering Force. 1.4.2 Slip Angle and Aligning Torque. 1.4.3 Camber and Camber Thrust. 1.4.4 Characterization of Cornering Behavior of. Tires. 1.5 Performance of Tires on Wet Surfaces. 1.6 Ride Properties of Tires. References. Problems. 2. MECHANICS OF VEHICLE-TERRAIN INTERACTION--TERRAMECHANICS. 2.1 Distribution of Stresses in the Terrain Under Vehicular Loads. 2.2 Applications of the Theory of Plastic Equilibrium to the Mechanics of Vehicle--Terrain Interaction. 2.3 Empirical Methods for Predicting Off-Road Vehicle Performance. 2.3.1 Empirical Methods Based on the Cone Index. 2.3.2 Empirical Methods Based on the Mean Maximum Pressure. 2.4 Measurement and Characterization of Terrain Response. 2.4.1 Characterization of Pressure-Sinkage Relationship. 2.4.2 Characterization of the Response to Repetitive Loading. 2.4.3 Characterization of the Shear Stress-Shear Displacement Relationship. 2.5 A Simplified Method for Analysis of Tracked Vehicle Performance. 2.5.1 Motion Resistance of a Track. 2.5.2 Tractive Effort and Slip of a Track. 2.6 A Computer-Aided Method for Evaluating the Performance of Vehicles with Flexible Tracks. 2.6.1 Approach to the Prediction of Normal Pressure Distribution under a Track. 2.6.2 Approach to the Prediction of Shear Stress Distribution under a Track. 2.6.3 Prediction of Motion Resistance and Drawbar Pull as Functions of Track Slip. 2.6.4 Experimental Substantiation. 2.6.5 Applications to Parametric Analysis and Design Optimization. 2.7 A Computer-Aided Method for Evaluating the Performance of Vehicles with Long-Pitch Link Tracks. 2.7.1 Basic Approach. 2.7.2 Experimental Substantiation. 2.7.3 Applications to Parametric Analysis and Design Optimization. 2.8 Methods for Parametric Analysis of Wheeled Vehicle Performance. 2.8.1 Motion Resistance of a Rigid Wheel. 2.8.2 Motion Resistance of a Pneumatic Tire. 2.8.3 Tractive Effort and Slip of a Wheel. 2.9 A Computer-Aided Method for Evaluating the Performance of Off-Road Wheeled Vehicles. 2.9.1 Basic Approach. 2.9.2 Experimental Substantiation. 2.9.3 Applications to Parametric Analysis. 2.10 Finite Element and Discrete Element Methods for the Study of Vehicle-Terrain Interaction. 2.10.1 The Finite Element Method. 2.10.2 The Discrete (Distinct) Element Method. References. Problems. 3. PERFORMANCE CHARACTERISTICS OF ROAD VEHICLES. 3.1 Equation of Motion and Maximum Tractive Effort. 3.2 Aerodynamic Forces and Moments. 3.3 Vehicle Power Plant and Transmission Characteristics. 3.3.1 Internal Combustion Engines. 3.3.2 Electric Drives. 3.3.3 Hybrid Drives. 3.3.4 Fuel Cells. 3.3.5 Transmission Characteristics. 3.4 Vehicle Power Plant and Transmission Characteristics. 3.4.1 Power Plant Characteristics. 3.4.2 Transmission Characteristics. 3.5 Prediction of Vehicle Performance. 3.5.1 Acceleration Time and Distance. 3.5.2 Gradability. 3.6 Operating Fuel Economy. 3.7 Engine and Transmission Matching. 3.8 Braking Performance. 3.8.1 Braking Characteristics of a Two-Axle. Vehicle. 3.8.2 Braking Efficiency and Stopping Distance. 3.8.3 Braking Characteristics of a Tractor-Semitrailer. 3.8.4 Antilock Brake Systems. 3.8.5 Traction Control Systems. References. Problems. 4. PERFORMANCE CHARACTERISTICS OF OFF-ROAD VEHICLES. 4.1 Drawbar Performance. 4.1.1 Drawbar Pull and Drawbar Power. 4.1.2 Tractive Efficiency. 4.1.3 Four Wheel Drive. 4.1.5 Coefficient of Traction. 4.1.4 Weight-to-Power Ratio for Off-Road Vehicles. 4.2 Fuel Economy of Cross-Country Operations. 4.3 Transport Productivity and Transport Efficiency. 4.4 Mobility Map and Mobility Profile. 4.5 Selection of Vehicle Configurations for Off-Road Operations. References. Problems. 5. HANDLING CHARACTERISTICS OF ROAD VEHICLES. 5.1 Steering Geometry. 5.2 Steady-State Handling Characteristics of a Two-Axle Vehicle. 5.2.1 Neutral Steer. 5.2.2 Understeer. 5.2.3 Oversteer. 5.3 Steady-State Response to Steering Input. 5.3.1 Yaw Velocity Response. 5.3.2 Lateral Acceleration Response. 5.3.3 Curvature Response. 5.4 Testing of Handling Characteristics. 5.4.1 Constant Radius Test. 5.4.2 Constant Speed Test. 5.4.3 Constant Steer Angle Test. 5.5 Transient Response Characteristics. 5.6 Directional Stability. 5.6.1 Criteria for Directional Stability. 5.6.2 Vehicle Stability Control. 5.7 Steady-State Handling Characteristics of a Tractor-Semitrailer. 5.8 Simulation Models for the Directional Behavior of Articulated Road Vehicles. References. Problems. 6. STEERING OF TRACKED VEHICLES. 6.1 Simplified Analysis of the Kinetics of Skid-Steering. 6.2 Kinematics of Skid-Steering. 6.3 Skid-Steering at High Speeds. 6.4 A General Theory for Skid-Steering on Firm Ground. 6.4.1 Shear Displacement on the Track-Ground Interface. 6.4.2 Kinetics in a Steady-State Turning Maneuver. 6.4.3 Experimental Substantiation. 6.4.4 Coefficient of Lateral Resistance. 6.5 Power Consumption of Skid-Steering. 6.6 Steering Mechanisms for Tracked Vehicles. 6.6.1 Clutch/Brake Steering System. 6.6.2 Controlled Differential Steering System. 6.6.3 Planetary Gear Steering System. 6.7 Articulated Steering. References. Problems. 7. VEHICLE RIDE CHARACTERISTICS. 7.1 Human Response to Vibration. 7.1.1 International Standard ISO 2631-1:1985. 7.1.2 International Standard ISO 2631-1:1997. 7.2 Vehicle Ride Models. 7.2.1 Two-Degree-of-Freedom Vehicle Model for Sprung and Unsprung Mass. 7.2.2 Numerical Methods for Determining the Response of a Quarter-Car Model to Irregular Surface Profile Excitation. 7.2.3 Two-Degree-of-Freedom Vehicle Model for Pitch and Bounce. 7.3 Introduction to Random Vibration. 7.3.1 Surface Elevation Profile as a Random Function. 7.3.2 Frequency Response Function. 7.3.3 Evaluation of Vehicle Vibration in Relation to the Ride Comfort Criterion. 7.4 Active and Semi-Active Suspensions. References. Problems. 8. INTRODUCTION TO AIR-CUSHION VEHICLES. 8.1 Air-Cushion Systems and Their Performance. 8.1.1 Plenum Chamber. 8.1.2 Peripheral Jet. 8.2 Resistance of Air-Cushion Vehicles. 8.3 Suspension Characteristics of Air-Cushion Systems. 8.3.1 Heave (or Bounce) Stiffness. 8.3.2 Roll Stiffness. 8.4 Directional Control of Air-Cushion Vehicles. References. Problems. Index.

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2,930 citations

"Vehicle motion simulators, a key st..." refers background or methods in this paper

...The handling performance of a road vehicle is affected by the response of the vehicle to the steering commands and to the environmental inputs such as road disturbances.[94] Hence the handling performance of a road vehicle directly refers to vehicle controllability and stability during various manoeuvres such as turning or lane changing....
[...]
...The quantitative approach is based on the measurement of the vehicle parameters such as seat vibration, seat pressure distribution, and human motion that are related to ride quality [93]; and steering wheel angle, vehicle longitudinal and lateral velocity and acceleration, yaw rate, pitch rate, and roll rate that correspond to handling performance.[94] Various signal processing methods are applied to the measured data for filtering and extraction of the features that are required for assessment....
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...stant radius, constant speed, and constant steering angle turning.[4,93,94] Currently, robotic steering control is used to accurately implement the test manoeuvres....
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...The steering behaviour includes yaw velocity, path (curvature), lateral acceleration, and steering wheel torque.[94] Furthermore, there are other parameters that could be considered to give a better assessment, such as linearity, precision, effort, on-centre behaviour, and return-ability of the steering system....
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Book•

Vehicle Dynamics: Theory and Application

[...]

Reza N. Jazar

04 Nov 2009

TL;DR: In this paper, the authors describe the tire and rim dynamics of a quarter car, including the following: forward vehicle dynamics, tire dynamics, vehicle roll dynamics, and vehicle vibration.

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Abstract: Tire and rim fundamentals.- Forward vehicle dynamics.- Tire dynamics.- Driveline dynamics.- Applied kinematics.- Applied mechanisms.- Steering dynamics.- Suspension mechanisms.- Applied dynamics.- Vehicle planar dynamics.- vehicle roll dynamics.- Applied vibrations.- Vehicle vibrations.- suspension optimization.- Quarter car.

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879 citations

"Vehicle motion simulators, a key st..." refers methods in this paper

...The most common method for modelling of vehicle dynamics is the multibody systems approach where the Newton-Euler and Lagrangian methods are utilised to extract vehicle dynamics-governing equations.[59] A complete vehicle dynamics model should have the capability to be integrated with various state-of-the-art systems, including collision avoidance, ACC, driver assistance, anti-lock brake, traction control, and SCS....
[...]

Book•DOI•

Handbook of driving simulation for engineering, medicine, and psychology

[...]

Donald L. Fisher¹, Matthew Rizzo², Jeff K. Caird³, John D. Lee⁴•Institutions (4)

University of Massachusetts Amherst¹, University of Iowa², University of Calgary³, University of Wisconsin-Madison⁴

25 Apr 2011

TL;DR: Driving simulators have been used extensively in the field of computer vision and have been shown to be useful for driving simulation as discussed by the authors, where the authors present a short history of driving simulators and their application in computer vision.

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Abstract: Overview, D. Fisher, J. Caird, M. Rizzo, and J. Lee A Short History of Driving Simulation, R.W. Allen, T.J. Rosenthal, and Marcia L. Cook Using Driving Simulators Outside of North America, B.H. Kantowitz The Future of Driving Simulation, P.A. Hancock and T.B. Sheridan Twelve Practical and Useful Questions about Driving Simulation, J.K. Caird and W.J. Horrey Scenario Authoring, J.K. Kearney and T.Y. Grechkin Physical Fidelity of Driving Simulators, J. Greenberg and M. Blommer Sensory and Perceptual Factors in the Design of Driving Simulation Displays, G.J. Andersen Psychological Fidelity: Perception of Risk, T.A. Ranney Surrogate Methods and Measures, L.S. Angell Validating Vehicle Models, C. Schwarz Cross Platform Validation Issues, H. Jamson Simulator Validity: Behaviors Observed on the Simulator and on the Road, N. Mullen, J. Charlton, A. Devlin, and M. Bedard Simulator and Scenario Factors Influencing Simulator Sickness, H.A. Stoner, D.L. Fisher, and M.A. Mollenhauer Independent Variables: The Role of Confounding and Effect Modification, G. McGwin External Distractions: The Effects of Video Billboards and Wind Farms on Driving Performance, S. Milloy and J. Caird Measuring Physiology in Simulators, K. Brookhuis and R. deWaard Eye Behaviors: How Driving Simulators Can Expand Their Role in Science and Engineering, D. Fisher, A. Pollatsek, and W. Horrey Situation Awareness in Driving, L. Gugerty Simulator Data Reduction, M. Reyes and J. Lee Analytical Tools, L. Boyle Statistical Concepts, J. Dawson The Qualitative Interview, J. Moeckli Understanding and Changing the Young Driver Problem: A Review of the Randomized Controlled Trials Conducted with Driving Simulation, M.C. Ouimet, C. Duffy, B. Simons-Morton, T. Brown, and D. Fisher The Older Driver (Training and assessment: Knowledge, skills, and attitudes), K. Ball and M. Ackerman Methodological Challenges to Working with the Older Driver, L. Trick and J. Caird Profiles in Cell Phone-Induced Driver Distraction, D. Strayer, J. Cooper, and F. Drews Night Driving, J. Woods and A. Chaparro Driving in States of Fatigue or Stress, G. Matthews, D. Saxby, G. Funke, A. Emo, and P. Desmond Driving Simulators as Training and Evaluation Tools: Novice Drivers, A. Pollatsek, W. Vlakveld, B. Kappe, A. Pradhan, and D. Fisher The Commercial Driver, M. Blanco, J. Hickman, and R. Hanowski Driving Rehabilitation as Delivered by Driving Simulation, H. Singh, B. Barbour, and D. Cox The Importance of Proper Roadway Design in Virtual Environments, D. Evans The Use of a High-Fidelity Real-Time Driving Simulators for Geometric Design, T. Granda, G. Davis, J. Molino, and V. Inman Signaling, D. Noyce, M. Knodler, and J. Chapman Design and Evaluation of Signs and Pavement Markings Using Driving Simulators, S. Chrysler and A. Nelson Advanced Guide Signs and Behavioral Decision Theory, K. Katsikopoulos Driving Simulation Design and Evaluation of Highway-Railway Grade and Transit Crossings, J. Caird, A. Smiley, L. Fern, and J. Robinson Roadway Visualization, M. Manore and Y. Papelis Advanced Warning Technologies: Collision, Intersection Incursion, M. Manser Adaptive Behavior in the Simulator: Implications for Active Safety System Evaluation, J. Engstroem and M.L. Aust Cognitive Architectures for Modeling Driver Behavior, D. Salvucci Coupling Perception, Action, Intention and Value: A Control Theoretic Approach to Driving Performance, J. Flach, R. Jagacinski, and M.R.H. Smith Alcohol Research in Driving Simulators, J. Creaser, N. Ward, and M. Rakauskas Validity of Three Experimental Performance Tests for Predicting Risk of Cannabis-Induced Road Crashes, J. Ramaekers, M.R. Moeller, E.L. Theunissen, and G. Kauert Medical Disorders, M. Rizzo Psychiatric Disorders and Driving Performance, H. Moller Driving in Alzheimer's Disease, Parkinson's Disease, and Stroke, E. Uc and M. Rizzo Driving Simulation in Epilepsy and Sleep Disorders, J. Tippin Traumatic Brain Injury: Tests in a Driving Simulator as Part of the Neuropsychological Assessment of Fitness to Drive, W. Brouwer, R. Busscher, R. Davidse, H. Pot, and P. van Wolffelaar Index

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246 citations

Handbook of driving simulation for engineering, medicine and psychology

[...]

Karel Brookhuis, Dick de Waard

01 Jan 2011

221 citations

"Vehicle motion simulators, a key st..." refers background or methods in this paper

...stant radius, constant speed, and constant steering angle turning.[4,93,94] Currently, robotic steering control is used to accurately implement the test manoeuvres....
[...]
...The complexity in the structure of simulators and the cost that are closely related to the performance of RVMS are also used to ensure the reliability of classification.[4,6] Further details of specification of each category have been given in the following sections....
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...The application of a simulator-based test for vehicles is limited because of the limited workspace of the motion platform and the fact that the longitudinal motion is mainly imitated by visual cues rather than motion cues.[4]...
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...Usability describes how versatile and reconfigurable the simulator is for various studies.[4] For research purposes, high levels of fidelity and usability are required....
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...There are other relevant parameters including disparity, optic flow, and motion parallax that have effects on the driver’s visual perception.[4]...
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