The Software Architecture for Scenario Control in the Iowa Driving Simulator

The Iowa Driving Simulator (IDS) is a high-delity ground-vehicle simulator incorporating real-time multibody dynamics, high-resolution image generation , audio, six-degree-of-freedom motion, and force feedback in a large parallel and distributed software system. The variety of current and planned experiments using the IDS requires a exible system for specifying and executing complex scenarios | subject drivers should encounter realistic traac, pedestrians, stop lights, and variable weather conditions. This paper describes the architecture of the scenario control subsystem of the IDS focusing on the representation of the virtual world and the control of vehicle behavior .