Speed Control Algorithm for Autonomous Vehicles to Mitigate Post Shock and Vibration from Potholes

摘要

The proposed algorithm can help autonomous vehicles to mitigate the adverse effects of potholes on ride comfort, suspension durability and directional stability through preview control of vehicle speed. When a vehicle is approaching a pothole, the wheel of vehicle may either travel over the pothole or hit the bottom of the pothole depending on the vehicle speed and the pothole size. In the case of small and/or shallow potholes, higher vehicle speeds may enable traveling ("flying") over the pothole with minimal post shocks and vibrations. On the other hand, for larger and/or deeper potholes, flying over may not be possible or may cause damage to the vehicle. Thus, lowering the speed to as low as the legal limit wilt limit damage and may decrease the impact for traveling over larger and/or deeper potholes.