Abstract:

This paper proposes a technology for road-shape monitoring using crowdsourced vehicle data. The technology uses vehicle measurements and a dynamics model in a statistical estimation framework with a kernel model approximating the road shape. The rationale for considering the vehicle dynamics for road monitoring is that the same road yields different measurements/oscillations for different vehicle types. Next, this paper shows how to use such estimated road shape and vehicle dynamics for semi-active suspension control with the objective to improve passenger comfort. Results using the high-fidelity simulator CarSim show that the proposed technology (i) only needs a few vehicles for estimating the road shape, (ii) can improve passenger comfort by semi-active suspension control, and (iii) is robust to model mismatch indicating the applicability to a real-world scenario.