Estimation of Road Profile With Multibody Dynamic Analysis and Disturbance Observer

Abstract eng:
Road conditions have a great influence on the maneuverability, the stability, and the ride comfort of an automobile, for the interaction forces between tires and a road determine the behavior of an automobile. Some attempts for the on-board estimation of the friction coefficient between tires and a road with measurable data have been proposed. For example, an estimation method based on the yaw rate and the lateral acceleration in cornering has been reported in [1], and another estimation method based on the state of an antilock brake system has also been proposed. Those estimated friction coefficient can be used for the vehicle control system such as the electronic stability control system and the four-wheel steering system. Meanwhile, estimation methods of road profiles have not been proposed so much, although the road profiles have as much influence on vehicle dynamics as the road friction. As a related study on road profiles, a specialized vehicle called "a road survey vehicle" was developed in order to measure the cracks, ruts, and flatness of roads [2]. In this vehicle, road profiles are directly measured using laser scanners, and measured data are used for the maintenance of the roads. Although laser sensors enable us to measure the road profile accurately, they are rather expensive, so it is difficult to apply laser sensors to general cars for reason of cost restriction.

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