Road profile estimation with modulation function based sensor fusion and series expansion for input reconstruction

Noack, Matti; Botha, Theunis R.; Hamersma, Herman; Ivanov, Valentin; Reger, Johann; Schalk, P.

doi:10.1109/amc.2019.8371152

Cited by 9 publications

(5 citation statements)

References 17 publications

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“…The method of control-constraints was proposed [56] that focuses on tyre dynamics and requires solving differential-algebraic equations. A modulating function technique [57] can fulfil the real-time and noise suppression requirements with the focus particularly on off-road vehicles. In [58], Bayesian estimator was proposed regardless of vehicle models; but a priori information of the road is required.…”

Section: Transfer Functions and Other Techniquesmentioning

confidence: 99%

Response-based methods to measure road surface irregularity: a state-of-the-art review

Nguyen

Lechner

Wong

2019

Eur. Transp. Res. Rev.

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Purpose: With the development of smart technologies, Internet of Things and inexpensive onboard sensors, many response-based methods to evaluate road surface conditions have emerged in the recent decade. Various techniques and systems have been developed to measure road profiles and detect road anomalies for multiple purposes such as expedient maintenance of pavements and adaptive control of vehicle dynamics to improve ride comfort and ride handling. A holistic review of studies into modern response-based techniques for road pavement applications is found to be lacking. Herein, the focus of this article is threefold: to provide an overview of the stateof-the-art response-based methods, to highlight key differences between methods and thereby to propose key focus areas for future research. Methods: Available articles regarding response-based methods to measure road surface condition were collected mainly from "Scopus" database and partially from "Google Scholar". The search period is limited to the recent 15 years. Among the 130 reviewed documents, 37% are for road profile reconstruction, 39% for pothole detection and the remaining 24% for roughness index estimation. Results: The results show that machine-learning techniques/data-driven methods have been used intensively with promising results but the disadvantages on data dependence have limited its application in some instances as compared to analytical/data processing methods. Recent algorithms to reconstruct/estimate road profiles are based mainly on passive suspension and quarter-vehicle-model, utilise fewer key parameters, being independent on speed variation and less computation for real-time/online applications. On the other hand, algorithms for pothole detection and road roughness index estimation are increasingly focusing on GPS accuracy, data aggregation and crowdsourcing platform for large-scale application. However, a novel and comprehensive system that is comparable to existing International Roughness Index and conventional Pavement Management System is still lacking.

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Section: Transfer Functions and Other Techniquesmentioning

confidence: 99%

Response-based methods to measure road surface irregularity: a state-of-the-art review

Nguyen

Lechner

Wong

2019

Eur. Transp. Res. Rev.

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“…In this paper, we are interested in on-line estimation. Regarding parameter estimation, we hereby use the following receding-horizon integral operator on the signal y(t), using a total modulating function given by [30] L…”

Section: Mathematical Modelingmentioning

confidence: 99%

“…Gathering now the M i [y] terms similarly to (30), we have (61) In case one wants to favor speed over precision, it is possible to use a single total (reversed) modulating function and use a Gramian-based expression in order to get the parameter estimate. Another advantage of using expressions such as (52) or (54), where the modulating function is generated by a stable system, is that similar expressions can also be used to obtain the parameter estimates themselves.…”

Section: Direct Continuous-time Implementationmentioning

confidence: 99%

“…However, other factors can also be under consideration, such as ease of implementation, portability of the code, etc. Regarding the on-line use of modulating functions, the latter are usually first discretized (as they would be in the previous subsection or as in [9] and [30]). However, modern tools for simulation and control such as Matlab/Simulink allows one to program systems and algorithms directly in a continuous-time setting, thus allowing for the additional advantage of being able to consider non-regular samplings.…”

Section: Direct Continuous-time Implementationmentioning

confidence: 99%

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On-line parameter and state estimation of an air handling unit model: experimental results using the modulating function method

Ionesi

Ramezani²,

Jouffroy

2019

MIC

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This paper considers the on-line implementation of the modulating function method, for parameter and state estimation, for the model of an air-handling unit, central element of HVAC systems. After recalling the few elements of the method, more attention is paid on issues related to its on-line implementation, issues for which we use two different techniques. Experimental results are obtained after implementation of the algorithms on a heat flow experiment, and they are compared with conventional techniques (conventional tools from Matlab for parameter estimation, and a simple Luenberger observer for state estimation) for their validation. * ai@mci.sdu.dk † ramezani@mci.sdu.dk ‡ jerome@mci.sdu.dk arXiv:1810.08929v2 [cs.SY] 15 Nov 2018 state and parameter estimation on a continuous-time ROM based on a simple thermal-electrical analogy [15]. In comparison with more conventional approaches using discrete-time such as Kalman filtering, performing both state and parameter estimation in continuous-time relates better to the formalism in which the system is originally modeled and ensures the convergence of the estimates to the real values when sampling time approaches zero [39]. Compared to their discrete-time counterparts estimating either parameters or state components is the necessity of considering time derivatives. The modulating function technique, originally introduced by Shinbrot [38], allows to circumvent this issue elegantly, with the use of fixed-length time integrals of the measured signals, akin continuous-time FIR filtering. This offers the additional advantages of giving estimates after a fixed and predetermined amount of time, contrary to usual Kalman-based filtering methods. Originally proposed towards parameter estimation, the modulating function method was more recently extended to include state estimation [23] [19].Many studies considering the modulating function approach showed satisfactory performance, but mostly in simulations using artificial data [19] or sources generated from real profiles [5]. In contrast to that and to the best of our knowledge, not many applications can be found in the literature dealing with experiments done on actual measurements, to the notable exception of [11], where Hartley modulating functions are used to estimate the parameters of a thyristor driven DC-motor.

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“…Regarding car and vehicle dynamic response due to pavement roughness, a half-vehicle dynamic model was developed by [57]. Power Spectral Density (PSD) of the unpaved and asphalt-concrete tracks was considered together with numerical vehicle modelling at different speeds to evaluate passenger discomfort.…”

Section: Vehicle Dynamic Response Approach For Road Surface Evaluationmentioning

confidence: 99%

Road infrastructure design towards passenger ride comfort for autonomous public transport

Van¹,

Ron²

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The rapid developments of smart technology and the vision to smart cities have led to parallel developments of various innovative transport means. Among them, road-based autonomous public transport (APT) is being planned, designed and developed worldwide such as the Dynamic Autonomous Road Transit (DART) in the city of Singapore. Innovative vehicle configuration and operation in the APT shall demand new requirements for design and construction of the infrastructure concerning the ride comfort of onboard passengers. This study aims at supporting the required update of guidelines for the design of roadway (e.g. horizontal alignment design), for vehicle speed recommendation along existing infrastructure and for pavement maintenance concerning passenger ride comfort in which DART is considered as a case study for APT application. Bottom-up and top-down approaches are used, in which the former method uses existing bus vehicles and network as a base-line reference while the latter method is based on APT's vehicle specification and operation.At first, this study starts with a comprehensive review of ride comfort thresholds, recent approaches to evaluate passenger ride comfort onboard and to assess road surface irregularity, where research gaps are pointed out for further study. The interaction between passenger-vehicle-pavement is studied through numerical analysis. Given the similarities between regular bus and APT, the former system has been investigated and detailed bus mathematical models are constructed and validated to evaluate the pavement quality that affects passenger ride comfort. Based on the comparison of different bus models regarding their simulation complexity and performance, a refined Bus Ride Index (BRI) is proposed as a key achievement of this research study. At the same time, regression relationships are established between road geometrical design (e.g. horizontal curve radius) and passenger perceptions at different postures onboard the bus. Herein, experimental study with analytical analysis is carried out to evaluate principal factors (e.g. lateral acceleration, lateral jerk and duration of turning movement) affecting passenger-vehicle-road interaction and ride discomfort based on existing bus fleet and road network.Finally, the DART concept is examined from different perspectives such as network analysis, traffic operation and road infrastructure design.The findings indicate that research on geometry design and road maintenance based on passenger ride comfort for APT is important to support the new vehicle concept. In the urban context, while road geometry concerning the horizontal curve is contributing to the upper range (uncomfortable, very uncomfortable to extremely uncomfortable), road roughness is the principal factor affecting passenger ride quality in the lower range of discomfort (not uncomfortable, a little uncomfortable, fairly uncomfortable to uncomfortable). The developed BRI offers a faster, inexpensive, convenient and more suitable method for evaluating bus lane roughness regarding p...

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Road profile estimation with modulation function based sensor fusion and series expansion for input reconstruction

Cited by 9 publications

References 17 publications

Response-based methods to measure road surface irregularity: a state-of-the-art review

Response-based methods to measure road surface irregularity: a state-of-the-art review

On-line parameter and state estimation of an air handling unit model: experimental results using the modulating function method

Road infrastructure design towards passenger ride comfort for autonomous public transport

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