期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 47, 期 11, 页码 3879-3891出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2016.2587673
关键词
Comfort metrics; input observer; jump-diffusion process (JDP); road anomaly detection; road profile estimation; route planning
类别
资金
- Ford Motor Company-University of Michigan Alliance
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1338925] Funding Source: National Science Foundation
This paper investigates a comfort-based route planner that considers both travel time and ride comfort. We first present a framework of simultaneous road profile estimation and anomaly detection with commonly available vehicle sensors. A jump-diffusion process-based state estimator is developed and used along with a multi-input observer for road profile estimation. The estimation framework is evaluated in an experimental test vehicle and promising performance is demonstrated. Second, three objective comfort metrics are developed based on factors such as travel time, road roughness, road anomaly, and intersection. A comfort-based route planning problem is then formulated with these metrics and an extended Dijkstra's algorithm is exploited to solve the problem. A cloud-based implementation of our comfort-based route planning approach is proposed to facilitate information access and fast computation. Finally, a real-world case study, comfort-based route planning from Ford Research and Innovation Center, Michigan to Ford Rouge Factory Tour, Michigan, is presented to illustrate the efficacy of the proposed route planning framework.
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