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(linear translation), we had a subject driving the simulator. The actuator intended for longitudinal
movement restitution was powered by the above-described classic washout algorithm. This algorithm
was computed on a control PC which received the acceleration of the simulated vehicle at 1.5kHz.

The acceleration signal obtained during the subject's driving contains acceleration phases, deceleration
and continuous accelerations phases. Following the processing of this acceleration by the washout
algorithm, this acceleration is transformed into a desired position profile with a tendency to return to
the neutral position during the continuous acceleration phase (fig 3). We noted in this one that with a
PID corrector, the platform position exactly superposed the desired position. Washout algorithm has
been implemented in a two-factor (Back of the seat x Motion base) repeated measure where the seat
variable consists of two levels (Back of the seat tilt 'on' or 'off), whereas the magnitude of the
platform motion consists of three levels (Without, Short, or Long longitudinal movement). All of these
2x3 experimental conditions, requires that the subjects drive the simulator for five minutes on average.
In (Neimer et al. (2005)) we show that best performance is obtained by having a controlled
combination of the back of the seat inclination 'On' and Short longitudinal platform displacement.
Rotating the entire seat is not considered since it induces false cues.

CONCLUSION

The proposed driving simulator and the motion cueing algorithm have been used in various
psychophysics experiments. Experiments consisted in exploring minimal displacements and
subsequent inertial effect restitution to perform file queuing driving situations. Obtained results are
presented in (Neimer et al. (2005)) and show the validity of the proposed concepts. Our future work
will focus on the development of new control strategies for the platform, which will aim to favour
driver control over the virtual vehicle's acceleration. Optimal coupling of visual, haptic and inertia
effects restitution will be also investigated.
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Kheddar A. and Garrec Ph. (2002). Architectures de plates-formes mobiles pour simulateurs de
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Reymond G. and Kemeny A. (2000). Motion cueing in the Renault Driving Simulator. Vehicle System
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Reymond G. and Kemeny A. and Droulez J. and Berthoz A. (2000). Contribution of motion platform
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Seigler I. and Kemeny A. (2001). Etude sur la pertinence de la restitution physique du mouvement en
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