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

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 i...

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Published in:Sensors (Basel, Switzerland) Switzerland), 2022-03, Vol.22 (6), p.2298
Main Authors: Jagelčák, Juraj, Gnap, Jozef, Kuba, Ondrej, Frnda, Jaroslav, Kostrzewski, Mariusz
Format: Article
Language:English
Subjects:
Acceleration
Acceleration measurement
Accelerometers
Automobile safety
cargo
cargo securing
Cell Communication
Global positioning systems
GNSS/INS sensors
GPS
Inertial navigation
lateral acceleration
Literature reviews
Logistics
Navigation systems
Passengers
Position measurement
Radius
Roads & highways
Root-mean-square errors
Sensors
Simulation
turning radius
vehicle
Vehicles
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cited_by cdi_FETCH-LOGICAL-c469t-8c8c52b3dafb0628fbd18458507a551dc9c11c60221de3a49c2f518a1ebc9f093
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creator Jagelčák, Juraj
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Kostrzewski, Mariusz
description 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.
doi_str_mv 10.3390/s22062298
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subjects Acceleration
Acceleration measurement
Accelerometers
Automobile safety
cargo
cargo securing
Cell Communication
Global positioning systems
GNSS/INS sensors
GPS
Inertial navigation
lateral acceleration
Literature reviews
Logistics
Navigation systems
Passengers
Position measurement
Radius
Roads & highways
Root-mean-square errors
Sensors
Simulation
turning radius
vehicle
Vehicles
title Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor
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