Estimation of Preview Road Displacement for Preview Suspension Control

―Realtime Estimation of Road surface displacement with on-board stereo vision―

Abstract

Road surface displacement measurement is one of potential functions of vehicle on-board stereo vision, as it is important for both manually-driven and autonomous vehicles to improve ride comfort performance by preview suspension control. This paper proposes a novel method of preview road surface displacement estimation from stereo camera images for preview suspension control. This method is also valid even there is a change of the vehicle heading during driving with a processing frequency of over 30 Hz. The estimation accuracy of speedbump is verified on straight road in a testtrack, and the validity of the proposed road surface displacement estimation method is examined. And in the vibration control simulation of the active suspension, the control effectiveness is verified by the preview suspension control using the estimated road displacement.