Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2022 Mar 16;22(6):2298.
doi: 10.3390/s22062298.

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

Juraj Jagelčák  1 , Jozef Gnap  1 , Ondrej Kuba  1 , Jaroslav Frnda  2 , Mariusz Kostrzewski  3
Affiliations

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

Juraj Jagelčák et al. Sensors (Basel). .

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.

Keywords: GNSS/INS sensors; cargo; cargo securing; lateral acceleration; turning radius; vehicle.

PubMed Disclaimer

Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Effect of evaluation time on the lateral acceleration obtained from IMU during a vehicle’s cornering (ayRAW-raw data, ay80, ay300, ay1000—evaluation times 80, 300, and 1000 ms).
Figure 2
Figure 2
Turning radius R2 from circumscribed circle of a triangle defined by three points on curve.
Figure 3
Figure 3
Example of automatic selection of events based on stable lateral accelerations.
Figure 4
Figure 4
Example of automatic selection of events based on MSE of R1 and R2.
Figure 5
Figure 5
Van vehicle V7 (left photo) and vehicle combination V10 (right photo) used in tests.
Figure 6
Figure 6
Scheme of test setup installation.
Figure 7
Figure 7
Test route TR1 in city of Žilina on OpenStreetMap (OSM) map layer.
Figure 8
Figure 8
Test route TR2 in city of Žilina on street of Vysokoškolákov on OSM map layer with 4 passes of three roundabouts.
Figure 9
Figure 9
Turning radius R1 vs. R2 of events for SEL1.
Figure 10
Figure 10
Turning radius R1 vs. R2 of events for SEL2.
Figure 11
Figure 11
Calculated ayC vs. measured ayM of events for SEL1.
Figure 12
Figure 12
Calculated ayC vs. measured ayM of events for SEL2.
Figure 13
Figure 13
Maximum lateral acceleration ayMax vs. average lateral acceleration ayM of events for SEL1.
Figure 14
Figure 14
Maximum lateral acceleration ayMax vs. average lateral acceleration ayM of events for SEL2.
See this image and copyright information in PMC

References

    1. EN 12642:2016 Securing of Road on Road Vehicles—Body Structure of Commercial Vehicles—Minimum Requirements. [(accessed on 7 February 2022)]. Available online: https://standards.iteh.ai/catalog/standards/cen/cfb5d8a8-67c0-46fc-8b51-....
    1. EN 17321:2020 Intermodal Loading Units and Commercial Vehicles—Transport Stability of Packages—Minimum Require-ments and Tests. [(accessed on 7 February 2022)]. Available online: https://standards.iteh.ai/catalog/standards/sist/545c1b9f-c7d0-4196-aec8....
    1. Alonso M., Mántaras D.A., Luque P. Toward a methodology to assess safety of a vehicle. Saf. Sci. 2019;119:133–140. doi: 10.1016/j.ssci.2019.01.012. - DOI
    1. Biral F., da Lio M., Bertolazzi E. Combining safety margins and user preferences into a driving criterion for optimal control-based computation of reference maneuvers for an ADAS of the next generation; Proceedings of the IEEE Intelligent Vehicles Symposium 2005; Las Vegas, NV, USA. 6–8 June 2005; Piscataway, NJ, USA: IEEE; 2005. pp. 36–41. - DOI
    1. Alonso M., Mántaras D.A., Luque P. Methodology for determining real time safety margin in a road vehicle. Transp. Res. Procedia. 2018;33:331–338. doi: 10.1016/j.trpro.2018.10.110. - DOI

LinkOut - more resources