Title :
Road anomaly estimation: Model based pothole detection
Author :
Zhaojian Li ; Kolmanovsky, Ilya ; Atkins, Ella ; Jianbo Lu ; Filev, Dimitar
Author_Institution :
Dept. of Aerosp. Eng., Univ. of Michigan, Ann Arbor, MI, USA
Abstract :
This paper describes a model-based pothole detection algorithm that exploits a multi-phase dynamic model. The responses of hitting potholes are empirically broken down into three phases governed by three simpler dynamic system sub-models. Each sub-model is based on a rigid-ring tire and quarter-car suspension model. The model is validated by comparing simulation results over various scenarios with FTire, a commercial simulation software for tire-road interaction. Based on the developed model, a pothole detection algorithm with Unscented Kalman Filter (UKF) and Bayesian estimation is developed and demonstrated.
Keywords :
Bayes methods; Kalman filters; automotive components; estimation theory; mechanical engineering computing; nonlinear filters; suspensions (mechanical components); tyres; vehicle dynamics; Bayesian estimation; FTire; UKF; dynamic system submodels; model based pothole detection; multiphase dynamic model; pothole hitting; quarter-car suspension model; rigid-ring tire; road anomaly estimation; simulation software; tire-road interaction; unscented Kalman filter; Aerodynamics; Detection algorithms; Roads; Tires; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170915
