LiDAR-Based Road Height Profile Estimation and Bump Detection for Preview Suspension

This paper proposes a Light Detection And Ranging (LiDAR) based system for estimating road surface height profiles and detecting bumps and dips for preview suspension systems. The proposed system includes a method for ground extraction to remove obstacles and applies <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Adaptive Smoothing</i> method to generate a continuous and accurate road height profile. Additionally, a bump-dip detection technique is introduced to identify road irregularities directly from the generated profile. We conducted a quantitative analysis of the system's performance through simulations and proving ground experiments, considering various LiDAR installation configurations and bump-dip environments. The results verify the accuracy and robustness of the proposed algorithm, and real-world vehicle experiments further confirm the reliability of the road height profile estimation.