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초록

Road roughness acts as the input to the vehicle suspension system and results in undesirable vibrations affecting the ride quality and vehicle stability. A knowledge of this information plays a key role in understanding the vehicle vertical dynamics and active suspension control system. Many researches are conducted to measure the road roughness by the laser profilometer or other distance sensors, which is called direct measurement methods. Although the direct methods can measure the road roughness very accurately, these methods are not trivial because of technical and economic issues. The alternative methods based on the estimator such as Kalman filter or disturbance observer, which is called indirect methods, have been developed past few decades. However, these previous methods are required some priori information about road roughness. The purpose of this paper is to develop the new indirect method based on Kalman filter with unknown input (KF-UI) for estimating the road roughness. The road roughness is estimated by KF-UI algorithm and the state estimation results of the quarter-car suspension system is also presented via simulation.

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