Real-time Road Profile Identification and Monitoring: Theory and Application

Acknowledgments......Page 12
Nomenclature......Page 14
 Motivation......Page 16
 Road Estimation Review......Page 17
  Direct Measurements......Page 18
  Non-Contact Measurements......Page 19
  Response-Based Estimation......Page 20
 Summary......Page 22
  Definition of Road Profile with the Same PSD Structure......Page 24
  IRI and its Correlation to ISO Index......Page 26
  Road Profile Generation......Page 28
  Nonlinear Macpherson Suspension Model......Page 30
  Suspension System Linearization......Page 33
  Controllable Damper Model......Page 37
 Summary......Page 41
 Features Definition......Page 42
  Feature Reduction......Page 46
 Simulation Settings and Results......Page 49
  Simulation Settings......Page 50
  Simulation results......Page 51
  Comparison with Other Methods......Page 57
 Summary......Page 59
  Structure of Speed Independent Road Classification Algorithm......Page 60
  Data Processing Procedure......Page 64
  Discussion on the Input Selection of RF Classifier......Page 65
  Simulation Results for Varying Velocity Scenario......Page 66
  Simulation Results for Noisy Measurement......Page 68
  Road Classification when Considering Tire Dynamics......Page 69
  Experimental Validation......Page 71
 Observer-Based Road Profile Estimation......Page 74
  AKF-ASTO Design......Page 75
  Simulation Results......Page 80
 Summary......Page 82
  Analytical Expressions of Vehicle Responses......Page 84
  Correlation Between Suspension System and Excitation Conditions......Page 87
  MOOP......Page 95
  Solution of MOOP......Page 96
 Road Adaptive Hybrid Suspension Controller......Page 97
  Hybrid Control and its Analytical Expressions......Page 98
  Road Adaptive Hybrid Controller......Page 100
 Summary......Page 105
  Model Predictive Control......Page 108
  Hybrid System......Page 112
  Hybrid Model Predictive Control......Page 114
  Predictive Control for Quarter Vehicle Model......Page 117
  Predictive Control for a Half Vehicle Model......Page 118
 Simulations......Page 121
  Simulation Results for a Quarter Vehicle Model......Page 122
  Simulation Results for Half Vehicle Model......Page 126
 Summary......Page 130
Conclusions......Page 132
References......Page 134
Authors\' Biographies......Page 148