Table 1 Conditions of experiments
Experiment | Label | Number of labeled data | Feature value | Data acquisition interval |
|---|---|---|---|---|
Road surface shape | Flatness | 150 | Mean and variance of pitch angle (1 s = 50 points) mean(|θpi|), var(|θpi|), Mean and variance of roll angle (1 s = 50 points) mean(|θri|), var(|θri|), | GPS: 1 s Others: 20 ms |
Slope | 150 | |||
Composite gradient | 150 | |||
Road surface property | Smooth | 500 | Mean and variance of pitch angular velocity (1 s = 50 points) mean(ωpi), var(ωpi) Mean and variance of roll angular velocity (1 s = 50 points) mean(ωri), var(ωri) | |
Unevenness | 500 |