The principal excitation to a vehicle's chassis system is the road profile. Simulating a vehicle traversing long roads is impractical and a method to produce short roads with given characteristics must be developed. By understanding the characteristics of the road, a reduced set of models can be created from which appropriate representations of the terrain can be synthesized. Understanding the characteristics of the terrain requires the ability to accurately measure the terrain topology. It is only by increasing the fidelity and resolution of terrain topology data that application of these data can be advanced. The first part of this work presents the development of a high fidelity 3-D laser terrain measurement system. The system is developed for both on-highway and off-road measurement. It is capable of measuring terrain in three dimensions, whereas current systems measure separate 2-D profiles in each wheel path of the vehicle. The equipment setup and signal processing techniques are discussed, as well as future improvements and applications of this enabling technology. The second part of this work develops a method of characterizing non-stationary road profile data using ARIMA (Autoregressive Integrated Moving Average) modeling techniques. The first step is to consider the road to be a realization of an underlying stochastic process. The model identification techniques are demonstrated. Statistical techniques are developed and used to examine the distribution of the residual process and the results are demonstrated. The use of the ARIMA model parameters and residual distributions in classifying road profiles is also discussed. By classifying various road profiles according to given model parameters, any synthetic road realized from a given class of model parameters will represent all roads in that set, resulting in a timely and efficient simulation of a vehicle traversing any given type of road. / Master of Science

Road smoothness is one of the most important road functional characteristics because it affects ride quality, operation cost, and vehicle dynamic load. There are many types of devices that measure the road profile, which is often used to compute different smoothness indices. The development of performance-based specifications and pavement warranties that use ride quality as a performance measure has increased the need for accurate measurement of pavement smoothness. For this reason, researchers have compared and evaluated the performance of available profilers and several profiler accuracy criteria have been proposed. However, there is not a definite answer on the ability of available profilers to accurately measure the actual road profile as well as the various smoothness indices. A recent profiler round-up compared the performance of 68 profilers on five test sections at Virginia Smart Road. The equipment evaluated included high-speed, light-weight, and walking-speed profilers, in addition to the reference device (rod and level). The test sites included two sites with traditional hot-mix asphalt (HMA) surfaces, one with a coarse-textured HMA surface, one on a continuously reinforced concrete pavement (CRCP), and one on a jointed plain concrete pavement (JCP). This investigation used a sample of the data collected during the experiment to compare the profiles and International Roughness Index (IRI) measured by each type of equipment with each other and with the reference. These comparisons allowed determination of the accuracy and repeatability capabilities of the existing equipment, evaluation of the appropriateness of various profiler accuracy criteria, and recommendations of usage criteria for different applications. The main conclusion of this investigation is that there are profilers available that can produce the level of accuracy (repeatability and bias) required for construction quality control and assurance. However, the analysis also showed that the accuracy varies significantly even with the same type of device. None of the inertial profilers evaluated met the current IRI bias standard requirements on all five test sites. On average, the profilers evaluated produced more accurate results on the conventional smooth pavement than on the coarse textured pavements. The cross-correlation method appears to have some advantages over the conventional point-to-point statistics method for comparing the measured profiles. On the sites investigated, good cross-correlation among the measured and reference profiles assured acceptable IRI accuracy. Finally, analysis based on Power Spectral Density and gain method showed that the profiler gain errors are nonuniformly distributed and that errors at different wavelengths have variable effects on the IRI bias. / Master of Science

As vehicle testing on existing vehicles is both time and resource consuming, the work of testing safety algorithms on vehicle is desired to be made more efficient. Therefore the goal of this thesis is to study and develop a vehicle simulation model that can simulate desired dynamics of existing and non-existing vehicles. The developed model consist of two areas of application: slow dynamics and vibrational dynamics. These areas are developed and validated using different methods, but as a part of the simulator, they are to be simulated together. For the slow, low frequency, vehicle motion, a three state transient motion model is derived and examined. The possibility of parametrisation is studied and performed using prediction error minimisation. For the vibration, high frequency model, a combination of a linear quarter car model with wheel motion is used to estimate road vibration characteristics. The modelled road is used to simulate the vehicle behaviour. The suggested methods regarding the vibration modelling and road estimation are performed using power spectral density as the road is not known determinately. Wheel speeds are used to study the power spectral densities as they are available at high sampling frequencies. The available tools and sensors used during this thesis are limited to existing vehicle sensors and GPS signals. The effect of this limitation is studied and the results are discussed.

The diploma thesis focuses especially on a design of a way for evaluating roughness in road profile, which affects driving characteristics of a car and a ride. In the theoretical part of the thesis are mentioned the most used methods and tools for road roughness analysis in the world. For the purposes of this thesis an experimental measuring were undertaken in order to obtain data for the own design of a road profile analysing system.