A Gaussian-process Bayesian calibrator estimates ISO road roughness from axle acceleration variance and drives a Simplex controller that switches to a safe low speed when roughness exceeds a threshold.
Simultaneous road profile estimation and anomaly detection with an input observer and a jump diffusion process estimator,
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Real-time Terrain Analysis for Off-road Autonomous Vehicles
A Gaussian-process Bayesian calibrator estimates ISO road roughness from axle acceleration variance and drives a Simplex controller that switches to a safe low speed when roughness exceeds a threshold.