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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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/6/2298 |
| _version_ | 1827625669688819712 |
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| author | Juraj Jagelčák Jozef Gnap Ondrej Kuba Jaroslav Frnda Mariusz Kostrzewski |
| author_facet | Juraj Jagelčák Jozef Gnap Ondrej Kuba Jaroslav Frnda Mariusz Kostrzewski |
| author_sort | Juraj Jagelčák |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-09T12:40:56Z |
| format | Article |
| id | doaj.art-79ad69f972834f3ba1e73863e7bcc628 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T12:40:56Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-79ad69f972834f3ba1e73863e7bcc6282023-11-30T22:18:59ZengMDPI AGSensors1424-82202022-03-01226229810.3390/s22062298Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS SensorJuraj Jagelčák0Jozef Gnap1Ondrej Kuba2Jaroslav Frnda3Mariusz Kostrzewski4Department of Road and Urban Transport, Faculty of Operation and Economics of Transport and Communications, University of Zilina, 010 26 Zilina, SlovakiaDepartment of Road and Urban Transport, Faculty of Operation and Economics of Transport and Communications, University of Zilina, 010 26 Zilina, SlovakiaDepartment of Road and Urban Transport, Faculty of Operation and Economics of Transport and Communications, University of Zilina, 010 26 Zilina, SlovakiaDepartment of Quantitative Methods and Economic Informatics, Faculty of Operation and Economics of Transport and Communications, University of Zilina, 010 26 Zilina, SlovakiaDivision for Construction and Operation of Means of Transport, Faculty of Transport, Warsaw University of Technology, St. Koszykowa 75, 00-662 Warsaw, PolandIn 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.https://www.mdpi.com/1424-8220/22/6/2298turning radiusGNSS/INS sensorsvehiclecargocargo securinglateral acceleration |
| spellingShingle | Juraj Jagelčák Jozef Gnap Ondrej Kuba Jaroslav Frnda Mariusz Kostrzewski Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor Sensors turning radius GNSS/INS sensors vehicle cargo cargo securing lateral acceleration |
| title | Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor |
| title_full | Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor |
| title_fullStr | Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor |
| title_full_unstemmed | Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor |
| title_short | Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor |
| title_sort | determination of turning radius and lateral acceleration of vehicle by gnss ins sensor |
| topic | turning radius GNSS/INS sensors vehicle cargo cargo securing lateral acceleration |
| url | https://www.mdpi.com/1424-8220/22/6/2298 |
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