Road profile estimation with modulation function based sensor fusion and series expansion for input reconstruction

As one of the major external influences on moving ground vehicles, the road surface shape forms a significant input to the suspension system. Especially cars operating on rough terrain are heavily affected by a fast changing environment and sufficient knowledge of the surrounding conditions becomes a matter of safety. This work examines a road profile estimation approach applying modulating function based estimation methods and series expansion of the unknown signals in order to obtain the input trajectory and the respective state information for the suspension adjustment. A conventional setup of accelerometers, displacement transducers and angular measurements is considered. The presented framework is validated by simulation based on the structure of available experimental data.