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

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.

Integrated Indoor Positioning System of Greenhouse Robot Based on UWB/IMU/ODOM/LIDAR

“…Stable and reliable absolute positioning information can be obtained by global navigation satellite system (GNSS) in the outdoor environment [1], whereas under the indoor conditions of greenhouses, it is impossible to apply GNSS for accurate positioning due to the signal occlusion. At present, the positioning and navigation methods of greenhouse robots worldwide primarily consist of guide rail, machine vision navigation, ultrasonic navigation, and multi-sensor fusion navigation [2][3][4][5].…”

Calculation of an Average Vehicle’s Sideways Acceleration on Small Roundabouts

“…This stability can be especially challenging when a vehicle negotiates curves or roundabouts. Therefore, the aim of this paper is to expand on our previous research [1] by studying long average accelerations (minimum duration equal to 1 s) with a focus on small roundabouts, and to present the possibilities of GNSS/INS sensor application in the computation of the turning radius based on speed and angular velocity measurements (noted from now as R3). The obtained values of turning radius R3 are compared with the turning radii R1 and R2 described in our previous publication [1].…”

“…Therefore, the aim of this paper is to expand on our previous research [1] by studying long average accelerations (minimum duration equal to 1 s) with a focus on small roundabouts, and to present the possibilities of GNSS/INS sensor application in the computation of the turning radius based on speed and angular velocity measurements (noted from now as R3). The obtained values of turning radius R3 are compared with the turning radii R1 and R2 described in our previous publication [1]. A new method of the automatic selection of events, based on the coefficient of variation, is presented together with the division of roundabout turns into individual quadrants based on sensor yaw data.…”

“…Safety aspects (all papers are connected to this topic, but it was especially significant in the studies referenced here) [1,2,8,[12][13][14][15][16]],…”

“…In our previous paper [1], we found that the analysis of parameter measurements related to vehicles driving through roundabouts was neglected in the literature; at that time, in the cohort of investigated references, only [25] considered the topic of roundabouts. We continued the literature screening and investigated the cohort of topics presented above with the application of a panoramic literature review method.…”