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Comfort-Oriented Pothole Traversal Using Multi-Sensor Perception and Fuzzy Control.

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This study introduces a new algorithm for safer and more comfortable pothole traversal. It uses sensor fusion and fuzzy control to adjust vehicle speed, enhancing ride comfort without compromising safety.

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Area of Science:

  • Automotive Engineering
  • Robotics
  • Control Systems

Background:

  • Potholes pose significant risks to vehicle safety and ride comfort.
  • Current methods often fail to adequately address pothole traversal dynamics.

Purpose of the Study:

  • To develop a comfort-oriented pothole traversal algorithm using multi-sensor fusion and fuzzy control.
  • To enhance vehicle safety and ride comfort during pothole encounters.

Main Methods:

  • Fusing camera and LiDAR data to extract pothole geometric features (contour, area, depth).
  • Developing a vehicle-pothole dynamic model to analyze vibration.
  • Implementing a fuzzy control strategy for comfort-constrained speed planning.

Main Results:

  • The algorithm effectively determines maximum allowable traversal speeds based on pothole geometry.
  • Vehicle speed is adjusted pre-traversal to meet comfort constraints.
  • Co-simulations and real-vehicle tests confirm improved ride comfort and maintained safety.

Conclusions:

  • The proposed pothole traversal strategy enhances ride comfort and vehicle safety.
  • Multi-sensor fusion and fuzzy control are effective for adaptive speed adjustment.
  • The method offers a practical solution for mitigating pothole-related risks.