路面評価（舗装）(3)

[V-453] Road Profile Estimation and Output-only Half-Car Model Identification and its Application to Smartphone Measurement

薛 凱¹、*長山 智則¹ (1. 東京大学大学院工学系研究科社会基盤学専攻)

Keywords:Road profile estimation, output-only identification, smartphone, Kalman filter, vehicle dynamics

This paper proposes a road profile estimation method and a vehicle parameter identification method capable of automatically processing smartphone data. The profile estimation utilizes Augmented Kalman filter, Robins Monro algorithm, and RTS smoothing. Using the knowledge that the estimated profiles at the front and rear tire locations obtained as two independent state variables actually correspond to one physical profile, the vehicle parameters are obtained by minimizing the differences between the profile estimates.
Through field experiments involving three different vehicles, the high performance is clarified.