Event-Data-Recorder for Motorcycles Low-Cost Accident Reconstruction without GPS K. Hug 1 , R. Filliger 1 , Y. Stebler 2 , N. Munzinger 1 1 Berner Fachhochschule Technik und Informatik Fachbereich Automobiltechnik Institut f¨ ur Energie und Mobilit¨ at 2 ´ Ecole Polytechnique F´ ed´ erale de Lausanne EPFL-ENAC-IIE Geodetic Engineering Laboratory TOPO Financially supported in parts by AXA-Versicherungen and CTI-CH. Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 1 / 56
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Event-Data-Recorder for Motorcycles · Event-Data-Recorder for Motorcycles Low-Cost Accident Reconstruction without GPS K. Hug1, R. Filliger1, Y. Stebler2, N. Munzinger1 1Berner Fachhochschule
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Event-Data-Recorder for MotorcyclesLow-Cost Accident Reconstruction without GPS
K. Hug1, R. Filliger1, Y. Stebler2, N. Munzinger1
1Berner Fachhochschule Technik und InformatikFachbereich Automobiltechnik
Institut fur Energie und Mobilitat
2Ecole Polytechnique Federale de LausanneEPFL-ENAC-IIE
Geodetic Engineering Laboratory TOPO
Financially supported in parts by AXA-Versicherungen and CTI-CH.
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 1 / 56
Goal: EDR/EA
Develop...
Event Data Recorder and associated off-line Event-Analyzer forMotorcycles.
...under the constraints
precise
do not use GPS
low cost
autarkic and easy to fix on the motorcycle
valid for a large class of motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 2 / 56
Goal: EDR/EA
Develop...
Event Data Recorder and associated off-line Event-Analyzer forMotorcycles.
...under the constraints
precise
do not use GPS
low cost
autarkic and easy to fix on the motorcycle
valid for a large class of motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 2 / 56
precision
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 3 / 56
Goal: EDR/EA
Develop...
Event Data Recorder and associated off-line Event-Analyzer forMotorcycles.
...under the constraints
precise
do not use GPS
low cost
autarkic and easy to fix on the motorcycle
valid for a large class of motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 4 / 56
no GPS
you have privacy rights on your global position!
uncertain availability of GPS signals
low sampling frequency (≈ 1Hz)
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 5 / 56
no GPS
you have privacy rights on your global position!
uncertain availability of GPS signals
low sampling frequency (≈ 1Hz)
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 5 / 56
no GPS
you have privacy rights on your global position!
uncertain availability of GPS signals
low sampling frequency (≈ 1Hz)
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 5 / 56
Goal: EDR/EA
Develop...
Event Data Recorder and associated off-line Event-Analyzer forMotorcycles.
...under the constraints
precise
do not use GPS
low cost
autarkic and easy to fix on the motorcycle
valid for a large class of motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 6 / 56
costs
fabrication costs < 100CHF
fixation costs < 100CHF
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 7 / 56
costs
fabrication costs < 100CHF
fixation costs < 100CHF
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 7 / 56
Goal: EDR/EA
Develop...
Event Data Recorder and associated off-line Event-Analyzer forMotorcycles.
...under the constraints
precise
do not use GPS
low cost
autarkic and easy to fix on the motorcycle
valid for a large class of motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 8 / 56
autarkic & easy to fix
no access to electronic and mechanic pieces
“plug and play”
esthetics
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 9 / 56
autarkic & easy to fix
no access to electronic and mechanic pieces
“plug and play”
esthetics
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 9 / 56
autarkic & easy to fix
no access to electronic and mechanic pieces
“plug and play”
esthetics
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 9 / 56
Goal: EDR/EA
Develop...
Event Data Recorder and associated off-line Event-Analyzer forMotorcycles.
...under the constraints
precise
do not use GPS
low cost
autarkic and easy to fix on the motorcycle
valid for a large class of motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 10 / 56
valid for different motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 11 / 56
valid for different motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 12 / 56
valid for different motorcycles
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 13 / 56
Motivation
improve claim evaluation (...deliver objective data complementaryto classical accident reconstruction).
speed up claim evaluation
explore selective effect.
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 14 / 56
Motivation
improve claim evaluation (...deliver objective data complementaryto classical accident reconstruction).
speed up claim evaluation
explore selective effect.
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 14 / 56
Motivation
improve claim evaluation (...deliver objective data complementaryto classical accident reconstruction).
speed up claim evaluation
explore selective effect.
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 14 / 56
Data from 3 phases
20 sec 10 sec
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 15 / 56
MEMS-Inertial Measurement Unit (IMU)
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 16 / 56
MEMS-IMU
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 17 / 56
Accelerometer
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 18 / 56
Accelerometer
0~g
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 19 / 56
Accelerometer
0 0~g a
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 20 / 56
Accelerometer
0 0~g a
~f = ~a − ~g
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 21 / 56
Speed: integrate inertial measurements (IM)
measure specific forces: ~f = ~a− ~gand use basic Newtonian physics:
~v = ~a
valid in inertial coordinate system!
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 22 / 56
Speed: integrate inertial measurements (IM)
~v iib = ~aiib = ~f iib + ~g i
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 23 / 56
earth fixed frame
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 24 / 56
navigation frame
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 25 / 56
Speed: integrate inertial measurements (IM)
measure accelerations ~a (resp., specific forces: ~f = ~a− ~g)and use basic Newtonian physics:
~v iib = ~aiib = ~f iib + ~g i
valid in inertial coordinate system!
In navigation frame:
~vneb = Cnb~f bib − (2ωn
ie + ωnen)× ~vneb + ~gn
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 26 / 56
Speed: integrate inertial measurements (IM)
measure accelerations ~a (resp., specific forces: ~f = ~a− ~g)and use basic Newtonian physics:
~v iib = ~aiib = ~f iib + ~g i
valid in inertial coordinate system!In navigation frame:
~vneb = Cnb~f bib − (2ωn
ie + ωnen)× ~vneb + ~gn
Hug et al. (BFH-TI/ EPFL) Motorcycle EDR/EA 26 / 56