Determining the trajectory of the vehicle motion on the basis of the recorded physical quantities describing its dynamics during double lane change maneuvers

Abstract

The paper indicated the results of the vehicle motion trajectory calculations determined on the basis of the recorded waveforms of the acceleration vector and angular velocity components during the double lane change maneuver, taking into account the errors of acceleration sensors reset (zeroing). For the sake of simplicity, it was assumed that the zeroing errors apply only to the linear acceleration sensors, while the angular velocity sensors show exact values at the time t = 0 s (when starting the double lane change maneuver). During the analysis of the results of the experimental research, the vehicle kinematics model was used, in which right-handed coordinate systems were used: global and two local coordinate systems. The differences in the results of the calculations were determined and possible causes of these differences were indicated. The test results indicate that special attention should be paid to zeroing the acceleration sensors, in particular the ay component.