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vehicle interactions, roadway geometrics, and driver assistance systems. Because they pose no
physical threat to individuals, simulators can efficiently determine driving risks.
Driving simulators are generally categorized in terms of cost and number of degrees of
freedom (DOFs), or the direction in which motion is free to occur. For example, a simulator with
three DOFs can demonstrate motion in three planes: x-axis, y-axis, and z-axis. As the number of
DOFs increases, the driving experience becomes more realistic, but the cost of the driving
simulator also increases. Simulators are typically classified as low level, mid-level, or high-level;
low-level simulators are usually fixed-based (FB) simulators (Slob, 2008).
Driving simulators have existed since the early 1950s when vehicle manufacturers started
designing simulators to test designs. In the early 1970s, Volkswagen built their first driving
simulator with a 3-DOF (yaw, roll, and pitch) motion system (Slob, 2008). Mazda was the next
vehicle manufacturer to develop a 4-DOF (yaw, roll, pitch, and surge) system in 1985. Around the
same period, Daimler-Benz introduced a 6-DOF system with a 180-degree view in a hydraulic
hexapod (Slob, 2008). Ford Motor Company introduced their 6-DOF simulator, Virttex, in 1994.
In addition to yaw, roll, and pitch, Ford’s simulator could also sway, heave, and surge. Renault
implemented a similar system in 2004 (Slob, 2008). Kookmin University in South Korea
developed a 6-DOF system in a single-seat simulator, and in 2001, the system was replaced with
a full-car chassis and a 2-DOF motion platform. The Kookmin University Simulator can also
generate effects such as rumble strips and speed bumps (Lee, Sung, Lee, Kim, & Cho, 2007).
Highly sophisticated simulators (high-level simulators), such as the Toyota Driving
Simulator at the Higashi-Fuji Technical Center in Susono, Japan, and the National Advanced
Driving Simulator (NADS) at the University of Iowa in the United States, provide realistic,
immersive driving experiences. Both Toyota and NADS simulators have 13 DOFs with a fully
enclosed hexapod and a 360
o
horizontal view (Slob, 2008).
Compared to high-level simulators, low-level simulators are not fully capable of delivering
realistic immersion into a virtual driving environment. In addition, low-level simulators are more
prone to effects such as simulator sickness, which occurs because the simulator lacks motion cues.
Humans perceive motion through skin pressure and balance organs in the ear (Capustiac &
Napoca, 2011). When the human body is subject to a simulator, however, the eyes register visual