This paper describes ten simple GPS simulator scenarios. These scenarios have been designed to complement Standard Positioning Service (SPS) receiver testing using controlled and repeatable signal conditions. Receiver manufacturers and product integrators may choose to use these or other GPS simulation scenarios to help ensure performance requirements are satisfied. These scenarios are based on test procedures accepted within the GPS industry.
In the current scenario, the vehicle is integrated with advanced sensors, infotainment maps and a telematics module, which provide extensive information regarding the terrain and dynamic state, including the radius of curvature (R). The transportation authority had imposed guidelines regarding the range of allowable vehicle speeds for low curvatures (e.g. [15 25] MPH for R = 18.4m), but a unique optimal speed for a definite curvature was not investigated. The maximum allowable speed for R = 8.34m (U-turn) is 6.7 m.s−1, whereas for R = 42.57m (cloverleaf interchange) is 11.17 m.s−1. Therefore, in this article, the concept of Ideal Steering Behavior (ISB) was utilised to estimate a unique speed for a definite R. The functionality of ISB was formulated with steering parameters [Speed, Lateral acceleration, Yaw rate, R] whose boundary conditions were derived from real-time analysis. The test vehicle 2019 Cadillac Escalade provided by General Motors Inc., was driven by four drivers on the test track with R = 18.4m, and in this research, historic driver data under normal driving conditions were utilized to adapt “human-like” driving behaviour. Basic convex optimization and polynomial interpolation techniques were adopted to generate the empirical quadratic function correlating the parameters speed and R. The optimal speed for the test track R = 18.4m was estimated using by known statistical methods which resulted in a similar value of 7.485 m.s−1, and similar procedure was adopted for R = [8.34 42.57] m. The validation of the results was performed by comparing the roll and slip coefficients for the drivers and estimated speed. Traversing the vehicle with the estimated speed is safer as it falls in the recommended range, reflects ISB, and achieves optimal lateral dynamics.
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