Swept path determination by means of PDGNSS J. Glabsch, O. Heunecke, S. Schuhbäck, W. Wirth

Transcription

1 Swept path determination by means of PDGNSS J. Glabsch, O. Heunecke, S. Schuhbäck, W. Wirth University of the Federal Armed Forces Munich Institute of Geodesy & Institute of Transport and Spatial Planning Stuttgart, March

2 New giants on the road in Germany 2

3 Concerning Gigaliners No presentation on pros and cons of Gigaliners Evidence is given on manoeuvring behaviour with respect to roundabouts and turning circles by some test runs at MAN Focus is the way of obtaining data and their presentation for further analysis 3

4 Terms of a driving curve Master curve Max. width b + i (MESCHIK,1992) Envelope Max. enlarging i Covered area, width requested Vehicle width b Tractrix Swept paths are the movements of different parts of a vehicle when the vehicle is undertaking turning manoeuvres. 4

5 Methods of swept path determination - Theoretical approaches, to distinguish between analytical and graphical principles Skills of drivers, vehicle speed, road conditions, traffic utilization etc. are not taken into account Each truck combination is unique, no analytical solutions for some of the new vehicles right now - Model tests with vehicles on a smaller scale Template for a standard trailer - Practical driving tests on scale 1:1 Only practical driving tests have the advantage that all influences are implicitly covered in the turning manoeuvres to be tested and give evidence that a certain vehicle really fulfils the requirements

6 Driving tests by leaking water See BAST 1 (2008) for details Problem: Tangent point that defines the envelope at the inner curve is changing! 1 : Federal Highway Research Institute 6

7 Test vehicle and GNSS instrumentation 7

8 Mounting of GNSS antennas Y Distance to edge GNSS antenna Course X Coach body construction GNSS antenna Width Length 8

9 SAPOS - HEPS Satellitenpositionierungsdienst der deutschen Landesvermessung HEPS: High precision real time service; approx. 2 cm Availability of plane co-ordinates (GAUSS-KRUEGER) via NMEA protocol in real time by read-out receivers 9

10 Marking of test sceneries at MAN test site ACKNOWLEDGEMENT: All testing took place on the premises of MAN Munich in September

11 Test scenery BO-Kraftkreis BO-Kraftkreis according to StVZO 32d: A licensed vehicle must be able to fulfil a 360 turning circle within the area of an outer radius of m and a width smaller than 7.20 m. (ALBERS, 2006) This is valid for all kind of trucks like: 1 standard trailer 2 large semi trailer 3 tandem trailer 4 axle trailer 11

12 Test sceneries roundabouts traffic situation big roundabout small roundabout inner radius [m] outer radius [m] width entrance [m] width exit [m] manoeuvre Entrance Exit Schematic representation of a roundabout with outer radius R1 and inner radius R2 (SOBOTTA, 2007) 12

13 Evaluation mask for graphical presentation Selection of test run Definition of max. 3 coach bodies Presentation of steering angle and velocity Developed by 3D Mapping Solutions by order of Institute of Transport and Spatial Planning

14 Enhancement of evaluation possibilities Parameters for geo referencing Embedding of ortho photo 14

15 Performance of evaluation Start MATLAB Select test run View results 15

16 Example 1: 270 manoeuvre, small roundabout

17 Example 2: Passing the BO-Kraftkreis Lenkwinkel [ ] Steering angle (read-out CAN bus) -400 Velocity (processed by GNSS) - one pass depicted - tractor in green - trailer in blue - enlarging i approx. 4 m - in red: difference between trailer corner and tangent point, approx. 2 m 17

18 Example 3: 270 manoeuvre, big roundabout Slight over coating Area in plane projection needed by the vehicle body describes the swept path Width is changing!

19 Concerning Gigaliners Each truck combination is unique each must be investigated Using innovative techniques like steerable axles see dolly Gigaliners can (nearly) manoeuvre like ordinary trucks Driver skills are important during manoeuvres (e.g. calm vs. aggressive style) Dual-axis dolly 19

20 Conclusion Kinematic PDGNSS: The ideal tool for practical swept path determination! - Quick and easy installation, results available immediately - Recording frequency 10 Hz almost continuous vehicle tracks - Complete vehicle bodies are considered - Export of recorded data to road design software possible - Synchronized read-out of vehicle s CAN bus, e.g. steering angle - Use in real traffic situations without blocking junctions etc. - Geo-referenced swept path can be used with e.g. ortho photos Thank you for your kind attention! 20