Pavement State Recognition Method Considering Slope

For the problem of road surface condition recognition, this paper proposes a real-time tracking method to estimate road surface slope and adhesion coefficient. Based on the fusion of dynamics and kinematics, the current road slope of the vehicle which correct vertical load is estimated. The effect o...

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Bibliographic Details
Published in:Journal of physics. Conference series 2021-11, Vol.2113 (1), p.12080
Main Authors: Xi, Xiuhao, Xiao, Jun, Zhang, Qiang, Wang, Yanchao
Format: Article
Language:English
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Summary:For the problem of road surface condition recognition, this paper proposes a real-time tracking method to estimate road surface slope and adhesion coefficient. Based on the fusion of dynamics and kinematics, the current road slope of the vehicle which correct vertical load is estimated. The effect of the noise from dynamic and kinematic methods on the estimation results is removed by designing a filter. The normalized longitudinal force and lateral force are calculated by Dugoff tire model, and the Jacobian matrix of the vector function of the process equation is obtained by combining the relevant theory of EKF algorithm. The road adhesion coefficient is estimated finally. The effectiveness of the algorithm is demonstrated by analyzing the results under different operating conditions, such as docking road and bisectional road, using a joint simulation of Matlab/Simulink and Carsim.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2113/1/012080