Estimation of road profile for vehicle dynamics motion: Experimental validation

Doumiati, Moustapha; Victorino, Alessandro Corrêa; Charara, Ali; Lechner, Daniël

doi:10.1109/acc.2011.5991595

Cited by 80 publications

(64 citation statements)

References 9 publications

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“…This approach is used by Doumiati et al [9] for estimation of the road profile. Here the approach is investigated to determine its effectiveness in estimating off-road terrain profiles using a more complex vehicle model.…”

Section: Methodsmentioning

confidence: 99%

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Model based off-road terrain profile estimation

Dawkins

2014

2014 American Control Conference

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This paper investigates a method for estimating an off-road terrain profile using a vehicle suspension model. An augmented state Kalman filter (ASKF) is presented as a means to estimate the unknown inputs of the 7-DOF full suspension model. The Weierstrass-Mandelbrot function was used to generate a fractal terrain surface for a vehicle simulation. The terrain surface was used with Carsim in a simulation to test the proposed estimation method. To further validate the method an experimental study was conducted on an off-road terrain. A Light Detection and Ranging (LiDAR) sensor was used to measure the terrain profile. Global positioning system (GPS), inertial navigation sensors (INS) and suspension deflection sensors were used to as measurements to the ASKF. It is shown that the terrain profile can be estimated as the input to the 7-DOF suspension model. The method is effective at capturing the low frequency content of the profile while some of the higher frequency content cannot be recovered.

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Section: Methodsmentioning

confidence: 99%

“…Their method was able to effectively estimate the profile for a vehicle driving on a paved road. Doumiati et al [9]. showed that using Kalman filtering methods the road profile could be estimated using accelerometers and suspension deflection measurements.…”

Section: Introductionmentioning

confidence: 99%

Model based off-road terrain profile estimation

Dawkins

2014

2014 American Control Conference

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“…A few approaches [5]- [7] perform mobile road mapping based on road models, which work perfectly on principle, however, due to the complexity of modern road network, methods above may have the robustness issues. Recently, a one-wheel trailer was developed for estimating the road surface profile based on the vehicle dynamics motion [11]. However, it can only survey a tiny friction of a single traffic lane; conditions of rest of the road are unreached.…”

Section: Introductionmentioning

confidence: 99%

Mobile surveying system for road assets monitoring and management

Luo

Ren

et al. 2012

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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impact on road safety and efficiency. It is a big challenge to accurately and efficiently monitor and manage road assets. This paper proposes a mobile surveying system that is cost efficient and robust to acquire and manage road assets information in highly dynamic environments like highways and urban streets, where the data collection has previously been laborious and even dangerous for the staff performing the survey. Equipped with laser measurement systems, camera, proprioceptive sensors and novel sensor fusion algorithms; the proposed system can survey and manage road assets expeditiously. Laser sensors measure surroundings with range and remission data. Range data is processed to build up 3D model of surveyed objectives with position and attitude information from proprioceptive sensors. Remission data is used for extracting traffic lanes and signs on the road and tunnels, is calculated and marked on the 3D model, and compared with the signs captured by the camera. Road surface condition is measured by both inertial and laser sensors. Any abnormal circumstance detected is reported automatically. The surveying results are presented in a user friendly interface and saved as videos for convenient data management. Experimental results of a prototype system demonstrate its performance for road assets monitoring and management.

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“…Doumiati et al [78,79] used the quarter car model to estimate tire normal load and the road profile. First, they used accelerometer measurements to calculate the vehicle body vertical position, and then used it as a measured state for Kalman filter to estimate the normal wheel load and road profile.…”

Section: Quarter Car Modelmentioning

confidence: 99%

A technical survey on tire-road friction estimation

2017

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Lack of driver's knowledge about the abrupt changes in pavement's friction and poor performance of the vehicle's stability, traction, and ABS controllers on the low friction surfaces are the most important factors affecting car crashes. Due to its direct relation to vehicle stability, accurate estimation of tire-road friction is of interest to all vehicle and tire companies. Many studies have been conducted in this field and researchers have used different tools and have proposed different algorithms. This literature survey introduces different approaches, which have been widely used to estimate the friction or other related parameters, and covers the recent literature that contains these methodologies. The emphasize of this review paper is on the algorithms and studies, which are more popular and have been repeated several times. The focus has been divided into two main groups: experiment-based and model-based approaches. Each of these main groups has several sub-categories, which are explained in the next few sections. Several summary tables are provided in which the overall feature of each approach is reviewed that gives the reader the general picture of different algorithms, which are widely used in friction estimation studies.

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Estimation of road profile for vehicle dynamics motion: Experimental validation

Cited by 80 publications

References 9 publications

Model based off-road terrain profile estimation

Model based off-road terrain profile estimation

Mobile surveying system for road assets monitoring and management

A technical survey on tire-road friction estimation

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