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Speed-independent vibration-based terrain classification for passenger vehicles
MIT.
MIT.
2009 (English)In: Vehicle System Dynamics, ISSN 0042-3114, Vol. 47, no 9, 1095-1113 p.Article in journal (Refereed) Published
Abstract [en]

Terrain physical characteristics can have a significant impact on passenger vehicle handling, ride quality, and stability. Here, an algorithm is presented to classify terrain using a single suspension-mounted accelerometer. The algorithm passes a measured acceleration signal through a dynamic vehicle model to estimate the terrain profile, and then extracts spatial frequency components of this estimated profile. A method is introduced to identify and remove terrain impulses from the profile that are caused by ruts and potholes. Finally, a supervised support vector machine is employed to classify profile segments as members of pre-defined classes (such as asphalt, brick, gravel, etc.). The classification algorithm is validated with experimental data collected with a passenger vehicle driving in real-world conditions. The algorithm is shown to classify multiple terrain types with reasonable accuracy at a range of typical automotive speeds. It is also shown that the removal of terrain impulses prior to classification improves classifier performance. © 2009 Taylor & Francis.

Place, publisher, year, edition, pages
Colchester: Taylor & Francis, 2009. Vol. 47, no 9, 1095-1113 p.
Keyword [en]
Acceleration signals, Classification algorithm, Classifier performance, Experimental data, Passenger vehicles, Physical characteristics, Pre-defined class, Real-world, Reasonable accuracy, Ride quality, Road roughness, Sensing, Significant impacts, Spatial frequency, Speed-independent, Terrain, Terrain classification, Terrain profile, Vehicle model
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20752DOI: 10.1080/00423110802450193ISI: 000273960300002Scopus ID: 2-s2.0-70449591805OAI: oai:DiVA.org:hh-20752DiVA: diva2:586837
Available from: 2013-01-13 Created: 2013-01-12 Last updated: 2013-01-21Bibliographically approved

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Iagnemma, Karl
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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf