A parallel cable-driven car driving simulator

Abstract

This invention relates to a parallel cable-driven car driving simulator, comprising a driving unit and seven drive units, including a drive unit base, a motor, a reducer, a roller, a synchronous guide mechanism, a flexible cable, a traction ring, control pedals, a profile bracket, a driver's seat, a steering wheel, a control panel, a display screen, an airbag, and a spherical cockpit shell. Components within the spherical cockpit are fixed to the profile bracket. The driver controls the pedals, steering wheel, and control panel from the driver's seat. Three display screens simulate a realistic driving view, enabling human-machine interaction. The motor and reducer drive the roller to rotate, which in turn drives the synchronous pulley. The pulley at the other end drives the lead screw, which in turn drives the guide wheel in a linear motion, achieving the cable arrangement function. One end of the flexible cable is wound around the roller, and the other end is connected to the traction ring in the cockpit. The three traction rings are arranged in a "⊥" shape. The cockpit has six degrees of freedom within its movement space, simulating various driving states and road conditions.

Description

Technical Field

[0001] This invention relates to a parallel cable-driven car driving simulator, and more particularly to a parallel cable-driven car driving simulator capable of achieving six degrees of freedom. Background Technology

[0002] With the rapid development of society and the economy, the ownership rate of automobiles is increasing, and the automotive industry in various countries is developing rapidly. However, the level of automobile testing in various countries is still relatively low, and there is still much room for improvement in this area. As early as the 1980s, some automobile companies began designing driving simulators.

[0003] Currently, in the research of car driving simulators, one type (CN202223129331.4) has a fixed base under the simulated cockpit and three adjustable motors inside, which can adjust the tilt angle of the simulator to enhance the driving experience on slopes. However, its shortcomings include a simple structure, limited degrees of freedom of motion, and inability to simulate complex driving situations. Another driving simulator (CN202223099944.8) is a six-degree-of-freedom driving training simulation simulator, but it has a complex structure and poor flexibility. Car driving simulators require high flexibility of motion, and ensuring the flexibility of the driver's motion control is a current research focus. Existing driving simulators use a six-degree-of-freedom platform, but the size of their outriggers and the rotation angle of the Hooke's hinge are limited, resulting in disadvantages such as small workspace, limited range of posture changes, and poor flexibility. How to achieve a larger workspace and more flexible movement for the driver is a technical problem that this invention aims to solve. A flexible cable drive device with automatic cable retraction function (CN109279457A) outputs the flexible cable vertically upward through the guide wheel. The flexible cable can be directly connected to the cockpit without the limitations of ball hinge angle and cable extension range. Therefore, the workspace of the car driving simulator can be larger. The flexible cable drive is easy to reconfigure and modularly design, and can form a variety of layouts and combinations of degrees of freedom. In addition, the mass of the cable is very small, so the inertia of the moving parts is also very small.

[0004] Currently, most car driving simulators use rigid components. Parallel cable-driven car driving simulators, however, employ a flexible cable-driven parallel mechanism made of flexible materials, offering advantages such as higher reliability, lower vibration and noise, and lower temperature. This mechanism uses flexible materials instead of rigid linkages, providing a larger workspace, a higher load-to-mass ratio, and better flexibility. The cockpit has six degrees of freedom, a large range of motion, and can simulate various driving states and road conditions, resulting in superior driving performance. The cockpit shell uses a spherical structure, providing high strength and good safety performance. Inside, a driver's seat is installed, allowing the driver to operate the steering wheel, control pedals, and control panel, simulating a realistic driving environment and enabling human-machine interaction. Summary of the Invention

[0005] The purpose of this invention is to propose a parallel flexible cable driven car driving simulator, addressing the issue that most existing car driving simulators use rigid components.

[0006] This invention proposes a parallel flexible cable driven car driving simulator, including a drive unit base (1), a motor (2), a reducer (3), a roller (4), a synchronization guide mechanism (5), a flexible cable (6), a traction ring (7), a control pedal (8), a profile bracket (9), a driver's seat (10), a steering wheel (11), a control panel (12), a display screen (13), a spherical shell of the driver's cabin (14), and an airbag (15). The components inside the driver's cabin are fixed on the profile bracket (9). The driver's seat (10) is installed in the driver's cabin through a profile connector. The display screen (13) is installed above the front of the driver's seat (10), the steering wheel (11) is installed below the display screen (12), the control panel (12) is installed behind the steering wheel (11), and the control pedal (8) is installed below the control panel (12). The motor (2) is connected to the reducer (3). The reducer (3) drives the drum (4) to rotate. The output shaft of the drum (4) is equipped with a synchronous pulley (5-9). The rotation of the drum drives the synchronous belt (5-8) to move. The synchronous pulley (5-9) at the other end of the synchronous belt (5-8) drives the screw (5-4) of the synchronous guide mechanism (5) to move. The rotation of the screw (5-4) drives the guide wheel (5-1) to move in a straight line, realizing the rope laying function. The seven flexible ropes (6) wound on the drum (4) are connected to the three traction rings (7) on the cockpit through the guide wheel (5-1). The three traction rings (7) are distributed in a "⊥" shape. One traction ring (7) in front of the cockpit is connected to three flexible ropes (6), and the two traction rings (7) behind the cockpit are connected to two flexible ropes (6) respectively. The cockpit has six degrees of freedom of movement in the motion space.

[0007] The cockpit spherical shell (14) adopts a spherical design, and the internal components are fixed on the profile bracket (9). The driver's seat (10) is fixed in the cockpit through the profile connector. The control panel (12) is installed behind the steering wheel (11), the control pedal (8) is installed below the control panel (12), and the display screen (13) can simulate the real driving vision. The three display screens (13) simulate the vision of the left and right windows of the front door of a real car, realizing human-computer interaction.

[0008] The drive unit consists of a drive unit base (1), a motor (2), a reducer (3), a roller (4), a synchronous guide mechanism (5), a flexible cable (6), a bearing bracket (1-1), a flange bracket (1-2), a shaft, a key, bearings, and pins. The motor (2), reducer (3), roller (4), and synchronous guide mechanism (5) are connected to the flange bracket (1-2) and bearing bracket (1-1) by bolts and fixed on the drive unit base (1). The motor (2) and reducer (3) are connected by a shaft and bearing. The output shaft of the reducer (3) is connected to the input shaft of the roller (4) by a key, and the reducer (3) drives the roller (4) to rotate. One end of the flexible cable (6) is wound around the roller (4), and the roller (4) rotates to release the cable. The other end of the flexible cable is connected to the traction ring (7) through the guide wheel (5-1). The output shaft of the drum (4) is equipped with a synchronous pulley (5-9), and the other end of the synchronous belt (5-8) is equipped with a synchronous pulley (5-9) on the input shaft of the screw (5-4) of the synchronous guide mechanism (5). The rotation of the drum drives the screw (5-4) of the synchronous guide mechanism (5) to move. The rotation of the screw (5-4) drives the upper guide wheel (5-1) to make linear motion, thereby realizing the rope laying function.

[0009] The spherical cockpit consists of a control pedal (8), a driver's seat (10), a steering wheel (11), a control panel (12), a gasket (11-1), a bushing adapter bracket (11-2), bolts (11-3), screws (11-4), a key (11-5), a servo motor (11-6), a collar (11-7), a display screen (13), and a spherical outer shell (14) of the cockpit. The driver's seat (10) inside is fixed to the cockpit floor plate (15-1) by a profile connector. The steering wheel (11) and the display screen (13) are installed in front of the driver's seat (10). The display screen (13) is fixed to the profile bracket (9) by screws (11-4). The steering wheel (11) is connected to the bushing adapter bracket (11-2) by a gasket (11-1), and the bushing adapter bracket (11-2) is connected and fixed to the collar (11-7) by bolts (11-3). The rear of the steering wheel (11) is connected to the servo motor (11-6) via a key (11-5). The servo motor (11-6) can provide steering resistance, simulate real driving steering, record and feedback the position information of the steering angle, and then control the position change of the cockpit. The control panel (12) is assembled behind the steering wheel (11) using nuts.

[0010] The control pedal (8) consists of an accelerator pedal (8-1), a brake pedal (8-5), a clutch pedal (8-14), a spring (8-2), a single slider guide rail (8-3), a Hall position sensor (8-4), a nut, a damper (8-9), a slider brake (8-11), a rear axle (8-12), a bearing, a clutch pedal (8-14), a clutch spring (8-16), a clutch (8-17), and a front axle (8-18). The accelerator pedal (8-1), brake pedal (8-5), and clutch pedal (8-14) are supported on the front axle (8-18) by nuts. The spring (8-2) and the single slider guide rail (8-3) control the forward and backward movement of the accelerator pedal (8-1). The brake spring (8-8) and the damper (8-9) constitute the suspension. The slider brake (8-11) is fixed to the side of the suspension by nuts. The driver can manipulate the steering wheel (11) to control the direction of the cockpit movement, and control the accelerator pedal (8-1), brake pedal (8-5) and clutch pedal (8-14) under his feet to accelerate, decelerate and shift gears, simulating real driving conditions.

[0011] In three-dimensional space, any three non-collinear points can determine the pose of a rigid body. The cable-driven mechanism consists of seven flexible cables (6) wound on a roller (4) connected to three traction rings (7) on the cockpit floor (15-1) via guide wheels (5-1). The three traction rings (7) are arranged in a "⊥" shape. One traction ring (7) in front of the cockpit connects to three flexible cables (6), and the two traction rings behind the cockpit connect to two flexible cables (6) respectively. By controlling the flexible cables (6) through seven drive units, the six degrees of freedom of the cockpit can be realized, simulating the longitudinal, lateral, vertical, yaw, pitch, and roll movements of the vehicle in space, providing more accurate data support for actual vehicle driving simulation tests. For the cockpit, after rotating around a certain axis to different attitude angles, the controllable workspace will decrease as the rotation angle increases. When the cockpit rotates in different directions around a certain axis, the size of the controllable workspace changes at different rates with the rotation angle.

[0012] The synchronous guiding mechanism (5) consists of a guide wheel (5-1), a guide wheel base (5-2), a tray (5-3), a lead screw (5-4), a feed component (5-5), a guide rail slider (5-6), a guide rail (5-7), a synchronous belt (5-8), a synchronous pulley (5-9), and a bearing support (5-10). The guide rail slider (5-6) is mounted on the guide rail (5-7), and the feed component (5-5) is mounted on the lead screw (5-4) with screws and moves with the lead screw (5-4). The tray (5-3) and the guide wheel base (5-2) are fixed to the feed component (5-5) with bolts, and the guide wheel (5-1) is mounted on the feed component (5-5) of the lead screw (5-4). The output shaft of the drum (4) is equipped with a synchronous pulley (5-9), and the other end of the synchronous belt (5-8) is equipped with a synchronous pulley (5-9) on the input shaft of the screw (5-4). The rotation of the drum (4) drives the synchronous pulley (5-9) to move. Through the transmission of the synchronous belt (5-8), the rotation of the screw (5-4) drives the guide wheel (5-1) to make linear motion. It automatically adjusts with the movement of the rope out and in, realizing the rope laying function. One end of the flexible rope (6) is wound on the drum (4), and the other end is clamped by the groove reserved inside the guide wheel (5-1), so that the flexible rope (6) cannot jump off the groove, laying the rope without tangling it. The flexible rope (6) has a certain deflection angle in the direction of the axis of the drum (4) without causing interference between the rope drums.

[0013] Compared with the prior art, the beneficial effects of this invention are as follows:

[0014] (1) In this invention, the cockpit shell adopts a spherical design, which distributes the stress evenly. With the same wall thickness, the spherical tank has a higher load-bearing capacity, ensuring that the shell has sufficient strength and improving the overall safety of the cockpit. Under the same volume conditions, the spherical shell has a very small surface area. Due to the wall thickness, the surface area is small, saving materials. It is made of polyethylene material, which has good stability, reduces the overall mass of the simulator, and can provide higher acceleration and response speed.

[0015] (2) In this invention, the car driving simulator is equipped with control pedals and a display screen to simulate a real driving environment and realize human-computer interaction. The driver can operate the steering wheel to control the direction of the cockpit movement, and control the accelerator pedal, brake pedal and clutch pedal under his feet to accelerate, decelerate and shift gears, simulating real driving situations and various possible road conditions.

[0016] (3) The flexible drive mechanism adopted in this invention can reduce the size of the machine body to a greater extent and has a larger working space, which can carry out more complex simulation experiments. It includes a variety of drive mechanisms, which can be flexibly combined. The mechanism reorganization and modular design are more flexible. The frame size, drive unit position, etc. can be changed according to different needs. It can also construct a variety of structural layouts, change the degree of freedom of the mechanism and the position of the drive unit.

[0017] (4) In this invention, the parallel flexible cable drive unit is installed on the frame and directly connected to the cockpit through a flexible cable, which reduces the mass of the fuselage, improves the motion performance, reduces inertia, and can improve the speed and accuracy of operation, so that the cockpit has a faster speed response and higher acceleration.

[0018] (5) In this invention, the synchronous guiding mechanism uses a rotating drum and a synchronous belt drive to move the lead screw. The rotation of the lead screw drives the guide wheel to move in a straight line, which automatically adjusts with the movement of the rope out and take-up, thereby realizing the rope laying function and avoiding the occurrence of rope pressing and tangling. Attached Figure Description

[0019] Figure 1 A schematic diagram of a parallel cable-driven car driving simulator.

[0020] Figure 2 A half-sectional schematic diagram of a parallel cable-driven car driving simulator.

[0021] Figure 3 A schematic diagram of a partial structure of a parallel cable-driven car driving simulator;

[0022] Figure 4 A schematic diagram of a driving unit structure for a parallel cable-driven car driving simulator.

[0023] Figure 5 A schematic diagram of a partial structure of a parallel cable-driven car driving simulator control pedal;

[0024] Figure 6 A schematic diagram of a drive unit structure for a parallel cable-driven car driving simulator.

[0025] Figure 7 Axonometric schematic diagram of a synchronous guide mechanism for a parallel cable-driven car driving simulator.

[0026] Figure 8 This is a front view schematic diagram of a synchronous guidance mechanism structure for a parallel cable-driven automobile driving simulator. Detailed Implementation

[0027] Combined with appendix Figure 1 , Figure 2 The present invention will be further described below:

[0028] This invention proposes a parallel cable-driven car driving simulator, comprising a drive unit base (1), a motor (2), a reducer (3), a roller (4), a synchronization guide mechanism (5), flexible cables (6), traction rings (7), a control pedal (8), a profile bracket (9), a driver's seat (10), a steering wheel (11), a control panel (12), a display screen (13), a spherical shell of the driver's cabin (14), and an airbag (15). The cable-driven mechanism consists of seven flexible cables (6) connected to three traction rings (7) in the driver's cabin. The three traction rings (7) are arranged in a "⊥" shape. One traction ring (7) at the front of the driver's cabin connects to three flexible cables (6), and the two traction rings (7) at the rear of the driver's cabin connect to two flexible cables (6) respectively, realizing six degrees of freedom of movement of the driver's cabin.

[0029] Combined with appendix Figure 3 The present invention will be further described below:

[0030] The cockpit spherical shell (14) adopts a spherical design, and the internal components are fixed on the profile bracket (9). The driver's seat (10) is fixed inside the cockpit, the control panel (12) is installed behind the steering wheel (11), the control pedal (8) is installed below the control panel (12), and the three displays (13) simulate the field of vision of the left and right windows of the front door of a real car, changing the blind spot of the turning line in a general simulator, making it closer to the driving operation of a real vehicle, and realizing human-computer interaction.

[0031] Combined with appendix Figure 4 The present invention will be further described below:

[0032] A steering wheel (11) and a display screen (13) are installed in front of the driver's seat (10). The display screen (13) is fixed to the profile bracket (9) with screws (11-4). The steering wheel (11) is connected to the bushing joint bracket (11-2) through a washer (11-1). The bushing joint bracket (11-2) is connected and fixed to the collar (11-7) with bolts (11-3). The servo motor (11-6) is connected to the steering wheel (11) through a shaft key (11-5). It can provide steering resistance, simulate real driving steering, record and feedback the position information of the steering angle, and then control the position change of the cockpit. The control panel (12) is assembled behind the steering wheel (11) with nuts. The accelerator pedal (8-1), brake pedal (8-5) and clutch pedal (8-14) are supported on the front axle (8-18) with nuts.

[0033] Combined with appendix Figure 5 The present invention will be further described below:

[0034] The accelerator pedal (8-1), brake pedal (8-5), and clutch pedal (8-14) are supported on the front axle (8-18) by nuts. The accelerator pedal (8-1)'s forward and backward movement is controlled by a spring (8-2) and a single slider rail (8-3). A Hall effect position sensor (8-4) is installed to monitor the travel of the accelerator pedal (8-1) and control the speed of the cockpit movement. The brake spring (8-8) and damper (8-9) of the brake pedal (8-5) form the suspension, connected to the rear axle (8-12) via bearing limits. The slider brake (8-11) is fixed to the side of the suspension by nuts. The movement of the clutch spring (8-16) and clutch (8-17) of the clutch pedal (8-14) controls the disengagement and engagement of the transmission, and the travel of the clutch pedal (8-14) is monitored by sensors.

[0035] Combined with appendix Figure 6 The present invention will be further described below:

[0036] In three-dimensional space, any three non-collinear points can determine the pose of a rigid body. The cockpit is a complete constraint mechanism driven by seven parallel flexible cables (6). The drive unit consists of a drive unit base (1), a motor (2), a reducer (3), a roller (4), and a synchronous guide mechanism (5). The motor (2) and the reducer (3) are connected in cooperation. The output shaft of the reducer (3) is connected to the input shaft of the roller (4) via a key. The output shaft of the roller (4) is equipped with a synchronous pulley (5-9), and the input shaft of the lead screw (5-4) is equipped with a synchronous pulley (5-9). The guide rail slider (5-6) and the feed piece (5-5) are fixed to the guide rail (5-7) and the lead screw (5-4) respectively by screws. The tray (5-3) is fixed to the upper part of the guide rail slider (5-6) and the feed piece (5-5) by bolts. The guide wheel (5-1) and the guide wheel base (5-2) are installed on the tray (5-3) by hex bolts. The reducer (3) drives the drum (4) to rotate, and the drum drives the synchronous pulley (5-9) to move. The synchronous belt (5-8) drives the screw (5-4) to rotate and drive the guide wheel (5-1) to move linearly, thus realizing the rope laying function. One end of the flexible cable (6) is wrapped around the drum (4), and the other end is clamped by the groove reserved inside the guide wheel (5-1). Seven drive units control the movement of the flexible cable (6) to simulate the longitudinal, lateral, vertical, yaw, pitch and roll movements of the vehicle in space, so that the cockpit has six degrees of freedom in the movement space.

[0037] Combined with appendix Figure 7 , Figure 8 The present invention will be further described below:

[0038] A synchronous pulley (5-9) is mounted on the output shaft of the drum (4). The synchronous pulley (5-9) at the other end of the synchronous belt (5-8) is mounted on the input shaft of the lead screw (5-4). The rotation of the drum (4) drives the synchronous pulley (5-9) to move, and the lead screw (5-4) moves through the synchronous belt (5-8). The guide rail slider (5-6) is mounted on the guide rail (5-7). The feed piece (5-5) is mounted on the lead screw (5-4) with screws and moves with the lead screw (5-4). The tray (5-3) and the guide wheel base (5-2) are fixed to the feed piece (5-5) with bolts. The guide wheel (5-1) is mounted on the feed piece (5-5) of the lead screw (5-4). The rotation of the lead screw (5-4) drives the guide wheel (5-1) to make linear motion. It automatically adjusts with the movement of the rope output and input to realize the rope arrangement function. One end of the flexible rope (6) is wrapped around the drum (4), and the other end is clamped by the groove reserved inside the guide wheel (5-1), so that the flexible rope (6) cannot jump off the groove, and the rope is laid out without getting tangled. The flexible rope (6) has a certain angle in the direction of the axis of the drum (4) without causing interference between the rope drums.

[0039] The above description is only a part of the preferred embodiments of the present invention. Any person skilled in the art can modify the above-described technical solutions or modify them into equivalent technical solutions. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of the present invention are within the scope of protection claimed by the present invention.

Claims

1. A parallel cable-driven car driving simulator, comprising: The drive unit consists of a drive unit base (1), a motor (2), a reducer (3), a roller (4), a synchronous guide mechanism (5), a flexible cable (6), a bearing bracket (1-1), and a flange bracket (1-2). The motor (2), reducer (3), roller (4), and synchronous guide mechanism (5) are fixed on the drive unit base (1) via the flange bracket (1-2) and the bearing bracket (1-1). The synchronous guide mechanism (5) consists of a guide wheel (5-1), a guide wheel base (5-2), a tray (5-3), a lead screw (5-4), a feed component (5-5), a guide rail slider (5-6), a guide rail (5-7), a synchronous belt (5-8), a synchronous pulley (5-9), and a bearing support (5-10). The bearing support (5-10) is mounted on the bearing bracket (1-1). The motor (2) and reducer (3) are connected together. The output shaft of the reducer (3) is connected to the input shaft of the roller (4) via a key. (4) A synchronous pulley (5-9) is installed on the output shaft. The synchronous belt (5-8) is connected to two synchronous pulleys (5-9) respectively. The synchronous pulley (5-9) at the other end of the synchronous belt (5-8) is installed on the input shaft of the lead screw (5-4). The guide rail slider (5-6) and the feed element (5-5) are fixed to the guide rail (5-7) and the lead screw (5-4) respectively with screws. The tray (5-3) is fixed to the guide rail slider (5-6) and the feed element (5-5) with bolts. At the top, the guide wheel (5-1) and the guide wheel base (5-2) are mounted on the tray (5-3) by hex bolts; the reducer (3) drives the drum (4) to rotate, the drum (4) drives the synchronous pulley (5-9) to move, and the synchronous belt (5-8) drives the synchronous pulley (5-9) at the other end of the synchronous belt (5-8) to drive the screw (5-4) of the synchronous guide mechanism (5) to move, and the rotation of the screw (5-4) drives the guide wheel (5-1) to move in a straight line; The spherical cockpit has a spherical outer shell (14) and adopts a spherical design. The driver's seat (10) inside the spherical cockpit is fixed to the cockpit floor plate (15-1) by profile connectors. Three traction rings (7) are installed on the cockpit floor plate (15-1) and are arranged in a "⊥" shape. One end of the flexible cable (6) is wound around the roller (4), and the other end is connected to the traction ring (7) through the guide wheel (5-1). One traction ring (7) in the middle of the front of the cockpit is connected to three flexible cables (6), which are respectively connected to the lower left of the front of the cockpit. The three drive units at the lower right and upper left control the two traction rings (7) at the rear of the cockpit. The left traction ring (7) is connected to two flexible cables (6) and is controlled by the drive units at the lower left and upper left of the rear of the cockpit. The right traction ring (7) is connected to two flexible cables (6) and is controlled by the drive units at the lower right and upper right of the rear of the cockpit. The drive units control the seven flexible cables (6) to work together so that the cockpit has six degrees of freedom in the motion space, realizing longitudinal, lateral, vertical, yaw, pitch and roll movements, simulating various driving states of the vehicle.

2. The parallel cable-driven car driving simulator according to claim 1, characterized in that, The spherical cockpit consists of a control pedal (8), a profile bracket (9), a driver's seat (10), a steering wheel (11), a servo motor (11-6), a control panel (12), a display screen (13), and a spherical shell (14) of the cockpit. The control pedal (8), driver's seat (10), steering wheel (11), servo motor (11-6), control panel (12), and display screen (13) are all fixed on the profile bracket (9). The display screen (13) is located in front of the driver's seat (10) and simulates the real driving vision to realize human-computer interaction. The steering wheel (11) is installed below the display screen (13), and the servo motor (11-6) is connected to the rear of the steering wheel (11). The control panel (12) is installed behind the steering wheel (11), and the control pedal (8) is installed below the control panel (12).

3. A parallel cable-driven car driving simulator according to claim 2, characterized in that, The control pedal (8) consists of an accelerator pedal (8-1), a brake pedal (8-5), a clutch pedal (8-14), a spring (8-2), a single slider guide rail (8-3), a Hall position sensor (8-4), a brake spring (8-8), a damper (8-9), a slider brake (8-11), a rear axle (8-12), a clutch spring (8-16), a clutch (8-17), and a front axle (8-18). The accelerator pedal (8-1) is supported on the far right of the front axle (8-18), the brake pedal (8-5) is arranged in the middle, and the clutch pedal (8-14) is mounted on... On the far left; the accelerator pedal (8-1) uses a spring (8-2) and a single slider rail (8-3) to control its forward and backward movement; the brake spring (8-8) and damper (8-9) behind the brake pedal (8-5) form the suspension, and the slider brake (8-11) is arranged horizontally with the suspension; the clutch spring (8-16) and clutch (8-17) are arranged vertically and installed behind the clutch pedal (8-14); the driver uses the accelerator pedal (8-1), brake pedal (8-5) and clutch pedal (8-14) to control the speed and acceleration of the cockpit, simulating real driving operation.

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