Response-based methods to measure road surface irregularity: a state-of-the-art review

European Transport Research Review

An Open Access Journal

Table 1 Summary of model-based methods for road profile reconstruction function

System name/by	Model-based approach	Additional	Suspension			Vehicle model			Main parameter
System name/by	Model-based approach	Additional	P	SA	A	Q	H	F
[16]	KF		✔			✔			body position and acc, suspension def
[17]	improved KF		✔			✔			sprung acc, suspension def
[18]	augmented KF		✔			✔		✔	suspension dis, unsprung, sprung acc
[19]	modified KF		✔	✔		✔	✔	✔	vertical dis of the tire-road contact points, longitudinal acc
[5, 23]	SM, second-order SM		✔					✔	wheels and chassis
[6]	SM	PD	✔			✔			chassis
[24]	higher-order SM				✔	✔			sprung mass dis and velocity
[25]	higher-order SM				Tyre	✔			random road profile, the longitudinal friction force, and the engine friction
[26]	SM + AKF				Tyre	✔		✔	spring def, wheel acc, tire road contact acc
[27]	Q-parametrization				✔	✔			sprung mass position
[28]	Q-parametrization			✔		✔(1/5)
[29]	Q-parametrization		✔			✔
[20, 30]	Algebraic estimator, state observer		✔			✔			sprung mass and unsprung mass vertical dis, suspension def
[31]	H∞ observer				✔	✔(1/5)			sprung acc, suspension def, unsprung mass motion
[32]	Jump-diffusion estimator	PD	✔				✔		wheel excitation