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基于GPS/IMU的山区道路参数拟合与行车安全分析

, PP. 27-33

Keywords: 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

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Abstract:

?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。

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