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Road roughness estimation using an improved Kalman filter with discrete trapezoidal load.

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Title: Road roughness estimation using an improved Kalman filter with discrete trapezoidal load.
Authors: Li, Chao1 (AUTHOR), Hou, Jilin1 (AUTHOR) houjilin@dlut.edu.cn, Zhang, Qingxia2 (AUTHOR), Duan, Zhongdong3 (AUTHOR)
Source: Advances in Structural Engineering. Apr2026, Vol. 29 Issue 5, p1007-1023. 17p.
Subjects: Kalman filtering, Surface roughness measurement, Motor vehicle dynamics, Mechanical loads, State-space methods, Automobile vibration, Computer simulation
Abstract: Accurate estimation of road roughness is crucial for vehicle dynamics analysis and road performance evaluation. To enhance the accuracy of estimating road roughness, this study introduces an estimation method utilizing the improved Kalman filter (KF) with discrete trapezoidal load. Firstly, the theoretical formulation of the vehicle response under road roughness load is derived, and the system equation is derived in a continuous time state-space form. Next, the vehicle system equation is discretized and an improved KF algorithm with trapezoidal load is proposed, along with the derivation of the structural state estimation formula. Then, a vehicle model with seven degrees of freedom (DOFs) is established for numerical calculation, with the improved KF algorithm is utilized to estimate road roughness based on the vehicle response. Finally, the estimation accuracy of the proposed method is verified via field tests involving the vehicle driving through bumps and driving on a rough road. [ABSTRACT FROM AUTHOR]
Copyright of Advances in Structural Engineering is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Engineering Source
An: 192154166
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  Data: Road roughness estimation using an improved Kalman filter with discrete trapezoidal load.
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  Data: <searchLink fieldCode="AR" term="%22Li%2C+Chao%22">Li, Chao</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Hou%2C+Jilin%22">Hou, Jilin</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> houjilin@dlut.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Qingxia%22">Zhang, Qingxia</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Duan%2C+Zhongdong%22">Duan, Zhongdong</searchLink><relatesTo>3</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Advances+in+Structural+Engineering%22">Advances in Structural Engineering</searchLink>. Apr2026, Vol. 29 Issue 5, p1007-1023. 17p.
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  Data: <searchLink fieldCode="DE" term="%22Kalman+filtering%22">Kalman filtering</searchLink><br /><searchLink fieldCode="DE" term="%22Surface+roughness+measurement%22">Surface roughness measurement</searchLink><br /><searchLink fieldCode="DE" term="%22Motor+vehicle+dynamics%22">Motor vehicle dynamics</searchLink><br /><searchLink fieldCode="DE" term="%22Mechanical+loads%22">Mechanical loads</searchLink><br /><searchLink fieldCode="DE" term="%22State-space+methods%22">State-space methods</searchLink><br /><searchLink fieldCode="DE" term="%22Automobile+vibration%22">Automobile vibration</searchLink><br /><searchLink fieldCode="DE" term="%22Computer+simulation%22">Computer simulation</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: Accurate estimation of road roughness is crucial for vehicle dynamics analysis and road performance evaluation. To enhance the accuracy of estimating road roughness, this study introduces an estimation method utilizing the improved Kalman filter (KF) with discrete trapezoidal load. Firstly, the theoretical formulation of the vehicle response under road roughness load is derived, and the system equation is derived in a continuous time state-space form. Next, the vehicle system equation is discretized and an improved KF algorithm with trapezoidal load is proposed, along with the derivation of the structural state estimation formula. Then, a vehicle model with seven degrees of freedom (DOFs) is established for numerical calculation, with the improved KF algorithm is utilized to estimate road roughness based on the vehicle response. Finally, the estimation accuracy of the proposed method is verified via field tests involving the vehicle driving through bumps and driving on a rough road. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Advances in Structural Engineering is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1177/13694332251367468
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 17
        StartPage: 1007
    Subjects:
      – SubjectFull: Kalman filtering
        Type: general
      – SubjectFull: Surface roughness measurement
        Type: general
      – SubjectFull: Motor vehicle dynamics
        Type: general
      – SubjectFull: Mechanical loads
        Type: general
      – SubjectFull: State-space methods
        Type: general
      – SubjectFull: Automobile vibration
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      – SubjectFull: Computer simulation
        Type: general
    Titles:
      – TitleFull: Road roughness estimation using an improved Kalman filter with discrete trapezoidal load.
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            NameFull: Li, Chao
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            NameFull: Hou, Jilin
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            NameFull: Zhang, Qingxia
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            NameFull: Duan, Zhongdong
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            – D: 01
              M: 04
              Text: Apr2026
              Type: published
              Y: 2026
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              Value: 5
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            – TitleFull: Advances in Structural Engineering
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