摘要：The paper proposes a new road surface estimation algorithm for autonomous vehicles using a machine-learning based method, which is in cooperation with the lateral control of the vehicle. The algorithm uses large datasets, which can be collected e.g. from the on-board sensors of the vehicle, or it also can be provided by vehicle dynamic simulation softwares. The result of the surface estimation is built-in the lateral control system as a scheduling parameter. Furthermore, the lateral control design is based on the Linear Parameter Varying (LPV) method, which guarantees the safe motion of the vehicle against varying parameters of the system. Finally, a comprehensive simulation is presented to show the efficiency and the operation of the proposed control system.
关键词：Keywordsroad surface estimationbig data analysisautonomous vehicle systems
