US 12,128,904 B2
Method and system for the recognition of the irregularities of a road pavement
Alessandro Boldrini, Rome (IT); Marco Pascucci, Rome (IT); Alessandra Magliozzi, Rome (IT); Valerio Bortolotto, Rome (IT); Lorenzo Alleva, Rome (IT); and Vittorio Nicolosi, Rome (IT)
Assigned to Bridgestone Europe, NV/SA, Zaventem (BE)
Appl. No. 17/608,826
Filed by Bridgestone Europe NV/SA [BE/BE], Zaventem (BE)
PCT Filed May 4, 2020, PCT No. PCT/IB2020/054200
§ 371(c)(1), (2) Date Nov. 4, 2021,
PCT Pub. No. WO2020/225702, PCT Pub. Date Nov. 12, 2020.
Claims priority of application No. 102019000006614 (IT), filed on May 7, 2019.
Prior Publication US 2022/0274600 A1, Sep. 1, 2022
Int. Cl. B60W 40/06 (2012.01); G01B 21/30 (2006.01); G01S 19/01 (2010.01); G06F 30/23 (2020.01); G07C 5/00 (2006.01); G07C 5/02 (2006.01)
CPC B60W 40/06 (2013.01) [G01B 21/30 (2013.01); G01S 19/01 (2013.01); G06F 30/23 (2020.01); G07C 5/008 (2013.01); G07C 5/02 (2013.01); B60W 2520/10 (2013.01); B60W 2520/28 (2013.01); B60W 2540/18 (2013.01); B60W 2552/35 (2020.02); B60W 2556/45 (2020.02)] 14 Claims
OG exemplary drawing
 
1. A method for recognition of irregularities of a road pavement, the method comprising:
a test stage comprising:
performing tests in having pneumatic tires driving over and/or impacting different irregularities at different speeds of a motor vehicle;
during the tests performed, acquiring wheel speeds and speeds of the motor vehicle and calculating normalized wheel speeds relating to the tests performed via a ratio between the wheel speeds and the respective speeds of the motor vehicle; and
construction of at least one model for associating a standard deviation of the normalized wheel speeds relating to the tests performed with the irregularities on the road pavement; and
an actual recognition stage comprising:
acquiring a steering angle of a wheel of said motor vehicle;
processing the steering angle of the wheel of said motor vehicle via a fast Fourier transform;
identifying a minimum threshold in frequency content of the steering angle of the wheel processed via the fast Fourier transform;
acquiring wheel speeds and speeds of the motor vehicle;
calculating normalized wheel speeds via a ratio between the wheel speeds and the respective speeds of the motor vehicle;
carrying out high-pass type filtering of the wheel speeds or of the normalized wheel speeds via said minimum threshold;
calculating a standard deviation of the normalized wheel speeds; and
recognizing the presence of irregularities on the road pavement based upon a comparison between said model and the standard deviation of the normalized wheel speeds.