基于GPS/IMU的山区道路参数拟合与行车安全分析  

Mountainous Road Parameters Fitting and Driving Safety Analysis Based on GPS/IMU

作　　者：王慧丽[1] 史忠科[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《中国公路学报》2014年第6期27-33,共7页China Journal of Highway and Transport

基　　金：国家自然科学基金重点项目(61134004);西北工业大学博士论文创新基金项目(CX200912)

摘　　要：为了有效获取山区道路的线形参数,减小测量中的累积误差,提出了一种基于车载GPS/惯性测量单元(IMU)测量信息的道路几何参数拟合方法。考虑到地球表面的三维变化特征,建立了基于GPS直角坐标系下车辆行驶的状态方程,结合IMU测量信息进行平滑处理,通过对道路的分段描述,利用递推估计拟合道路的纵坡坡度、弯道半径等几何参数,分析了纵坡坡度、弯道半径及车速对行车安全的影响。研究结果表明:该方法所获得的参数信息与采点法测量结果吻合较好,验证了所提出算法的有效性;与道路纵坡相比,车速以及弯道半径对山区行车安全的影响较大,采取增大转弯半径、限制车速的措施可以有效提高山区道路的行车安全性。In order to effectively obtain mountainous road alignment parameters and to reduce the accumulated error in measurement, a method to estimate road geometric parameters based on GPS/inertial measurement unit （IMU） was proposed. With the three-dimensional characteristics of the earth surface considered, the state equation of vehicle driving based on GPS expression with Cartesian coordinate system was established, the road was described section by section, and smooth processing was conducted with the combination of the measurement information from IMU. The geometrical parameters of road gradient and turning radius were obtained by recursive estimation and the effects of road gradient, turning radius and velocity on driving safety were analyzed. The results show that the parameters information with the proposed method have a good agreement with that by the mining point, which proves the method to be effective. The driving safety can be improved by enhancing the turning radius and limiting the velocity which have greater effects on driving safety compared with road gradient.

关 键 词：道路工程 GPS IMU 状态方程 行车安全 纵坡坡度 弯道半径 临界速度 

分 类 号：U412.3[交通运输工程—道路与铁道工程]