@article{ref1,
title="Speed-independent vibration-based terrain classification for passenger vehicles",
journal="Vehicle system dynamics",
year="2009",
author="Ward, Chris C. and Iagnemma, Karl",
volume="47",
number="9",
pages="1095-1113",
abstract="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.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423110802450193",
url="http://dx.doi.org/10.1080/00423110802450193"
}