利用 GNSS/INS 传感器确定车辆转弯半径和横向加速度。

Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor.

机构信息

Department of Road and Urban Transport, Faculty of Operation and Economics of Transport and Communications, University of Zilina, 010 26 Zilina, Slovakia.

Department of Quantitative Methods and Economic Informatics, Faculty of Operation and Economics of Transport and Communications, University of Zilina, 010 26 Zilina, Slovakia.

出版信息

Sensors (Basel). 2022 Mar 16;22(6):2298. doi: 10.3390/s22062298.

DOI:10.3390/s22062298

PMID:35336468

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8950859/

Abstract

In this article, we address the determination of turning radius and lateral acceleration acting on a vehicle up to 3.5 t gross vehicle mass (GVM) and cargo in curves based on turning radius and speed. Global Navigation Satellite System with Inertial Navigation System (GNSS/INS) dual-antenna sensor is used to measure acceleration, speed, and vehicle position to determine the turning radius and determine the proper formula to calculate long average lateral acceleration acting on vehicle and cargo. The two methods for automatic selection of events were applied based on stable lateral acceleration value and on mean square error (MSE) of turning radiuses. The models of calculation of turning radius are valid for turning radius within 5-70 m for both methods of automatic selection of events with mean root mean square error (RMSE) 1.88 m and 1.32 m. The models of calculation of lateral acceleration are valid with mean RMSE of 0.022 g and 0.016 g for both methods of automatic selection of events. The results of the paper may be applied in the planning and implementation of packing and cargo securing procedures to calculate average lateral acceleration acting on vehicle and cargo based on turning radius and speed for vehicles up to 3.5 t GVM. The results can potentially be applied for the deployment of autonomous vehicles in solutions grouped under the term of Logistics 4.0.

摘要

在本文中，我们根据转弯半径和速度确定了总车重（GVM）达 3.5 吨及以上的车辆和货物在弯道中的转弯半径和作用于车辆的横向加速度。全球导航卫星系统与惯性导航系统（GNSS/INS）双天线传感器用于测量加速度、速度和车辆位置，以确定转弯半径，并确定计算作用于车辆和货物的长平均横向加速度的适当公式。基于稳定的横向加速度值和转弯半径的均方误差（MSE），应用了两种自动选择事件的方法。两种自动选择事件的方法的转弯半径计算模型均适用于转弯半径在 5-70 m 之间，平均均方根误差（RMSE）分别为 1.88 m 和 1.32 m。对于两种自动选择事件的方法，横向加速度计算模型的平均 RMSE 分别为 0.022 g 和 0.016 g。本文的结果可应用于包装和货物固定程序的规划和实施，以根据转弯半径和速度计算总车重达 3.5 吨及以上的车辆和货物的平均横向加速度。该结果可潜在地应用于物流 4.0 术语下的自主车辆部署。