Measurement and Analysis of Vehicle Comfort and Road Quality

IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308
https://doi.org/10.15623/ijret.2018.0709011 Received: 25-06-2018, Accepted: 06-08-2018, Published: 27-08-2018
MEASUREMENT AND ANALYSIS OF VEHICLE COMFORT AND

ROAD QUALITY
Murilo Henrique Baggio De Mello1, Sérgio Junichi Idehara2

1
Campus of Joinville, Federal University of Santa Catarina, Santa Catarina, Brazil
2
Campus of Joinville, Federal University of Santa Catarina, Santa Catarina, Brazil
Abstract
The suspension system of a vehicle is an essential component because it is related to the dynamic performance of the vehicle. It
ensures the tire-grounding contact, absorbing the oscillations excited by the road, and maintains the stability of the vehicle by
distributing the wheel forces, providing comfort and safety to vehicle occupants. Structurally it links the vehicle sprung mass to
the unsprung mass, and it connects to other subsystems, such as the steering and the brake components. In order to analysis and
design a suspension system, several models that simulate the suspension dynamics behavior are available, however each has a
different level of complexity and the accuracy of the results varies. Thus, the aim of this study was to compare a quarter car model
with the real dynamics of a vehicle using a Matlab simulation. A test vehicle was instrumented with three-axis accelerometers,
through which data on the acceleration of the sprung mass and unsprung mass was obtained when the vehicle was excited by a
speed bump. From this simulation, it was possible to perform a model update to obtain the approximate vehicle parameters. The
road surface quality plays a fundamental role in the vehicle oscillation and therefore in the comfort of the vehicle occupants.
Using the instrumented vehicle and the adjusted parameters of the model, some routes along different pavement types in the city
of Joinville were chosen to collect the vibration data in a vehicular test. The results were used to determine the international
roughness index (IRI), an index to evaluate road quality. It was verified that the city roads with high IRI values, for instance, on
streets paved with cobble stones, are associated with greater discomfort to passengers inside the vehicle, reflecting a low quality
of the pavement. In contrast, lower IRI values are obtained for roads with a higher quality surface, resulting in greater comfort
for the passengers.
Keywords: - Suspension, quarter vehicle, IRI, comfort and road quality

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1. INTRODUCTION According to Wong (2001)[6], although a vehicle represents

a complex system of multiple degrees of freedom (dof), the
Suspension systems have been used in the automotive suspension system can be simplified using only the most
industry since the first vehicles were manufactured, to relevant degree of freedom to describe its functional
absorb the vibration excitations due to vehicle maneuvers behavior. Thus, in vehicle dynamics studies, simplified
and road irregularities. According to Stone and Ball (2004) models are essential tools that are used to facilitate an
[1], the suspension system forms an interface between the understanding of the vehicle parameters ensitivity and to
road surface and the vehicle body and it plays a vital role in design the vehicle components. For example, Gao et al.
ensuring the comfort of the user, absorbing impacts and (2015)[7] analyzed and compared the effects of the
vibrations. The system also provides stability and vehicle hydraulic bushing of control arms on the vehicle
performance. In this case, the model was built in the
drivability, maintaining a constant contact pressure between
ADAMS software program. In another approach, Kuznetsov
the tire and the ground.
et al. (2011)[8] and Sezgin and Arslan (2012)[9] illustrated
the mathematical formulation of a model and its application
These features are very important to maintaining high levels in system optimization and a vertical vibration study,
of vehicle safety and passenger satisfaction [2]. For respectively, to improve the vehicle ride quality. The model
consumers, comfort is one of the most significant factors in was based on a reduced mass-sprung system.
selecting a vehicle. Thus, the focus in the development of
suspension design is to provide a certain amount of comfort, However, since these models are approximations, it is
avoiding sickness of the occupants, as a client necessary to verify how reliably they represent the
requirement[3],[4]. Walker et al. (2015)[5] describes that performance of the suspension system. In general,
experimental tests are performed to compare the suspension
drivers generally demonstrate a remarkable sensitivity
response of the simplified model with that measured using a
toward vehicle response, and automakers need to take into
real vehicle. Quarter vehicle models are the simplest
account subjective factors characteristic of consumer groups representation of a vehicle and they are commonly used to
to optimize the vehicle design process. study independent suspension systems, such as the
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Volume: 07 Issue: 09 | Sep-2018, Available @ www.ijret.org 72
MacPherson system. As described by Gillespie (1992)[10], vehicle (sprung mass). This condition is analyzed by Liang
for a two lumped-parameter dof model for independent et al. (2013)[16] for an excitation caused by speed-control
suspensions, an excitation from the road reaching the wheel humps.
on one side would not interfere with the dynamics of the
wheel on the opposite side. Due to the associated costs and user requirements, the
quality of roads has become an important concern. Road
The MacPherson suspension is widely employed in the managers, for instance, aim to maintain the quality of paved
automobile industry because it is a very simple assembly road surfaces through periodic maintenance. Thus, methods
and has a compact size. It is mounted with a telescopic have been developed to identify and monitor road features to
shock absorber and a concentric spring along the strut ensure that the conditions are appropriate for use. The main
structure. A lower control arm supports the strut and it links tool employed is the international roughness index (IRI),
the spindle to the vehicle chassis. Also, the independent which is widely applied to assess the quality of roads in the
suspension has a stabilizer bar connecting the two sides of United States [12].
the lower control arms. Reportedly, this is one of the biggest
advantages of MacPherson suspension[10] and it does not In this context, to obtain data on vehicle suspension systems
take up much of the engine space. and also information regarding road conditions, sensors such
as inertial accelerometers are used by automotive engineers
As mentioned above, in the automotive area comfort has and researchers. These data can then be used to adjust a
been the focus of many studies to improve the quality of the numerical model of the vehicle, and with this model the IRI
vehicle ride and reduce interior noise, which forms part of value for the road can be determined and the road conditions
the vibro-acoustical system[11]. The ride comfort is defined can be classified. The objective of this paper was to obtain
by Genta and Morello (2009)[12] as the ability of the tires vibration acceleration data from a low-cost data acquisition
and suspension system to filter external vibration excitations system, using an Arduino Uno microcontroller board, and
caused by the road irregularities. Among the main factors determine the condition of a road pavement in the city of
that result in complaints are noise and vibration, grouped Joinville (Brazil).
together in noise, vibration and harshness (NVH) studies.
These oscillations of low frequency, if not damped, can lead 2. EXPERIMENTAL SETUP
to passenger discomfort and are often responsible for
customer dissatisfaction[13]. In this study, an Arduino Uno microcontroller board and
two 3-axis accelerometers (ADXL345) were used to
The vehicle dynamic response to pavement roughness can measure the vertical vibration of sprung and unsprung
be measured by placing accelerometers on the sprung and masses of a test vehicle. In the measurements performed, the
unsprung mass. The correlation of the measured data with accelerometers were configured to have a range of ±8g to
user satisfaction is proposed in the standard ISO 2631 avoid overloading in terms of the signals and a sampling
(1997)[14], which regulates the parameters of the vehicular rate of 55Hz. The electrical circuit of the Arduino board and
comfort and safety. This standard provides information on ADXL345 accelerometers is represented in Figure 1.
the parameters correlated with the vibration frequency and
the vertical acceleration, in addition to the sensitivity of the
human body to vibration from different directions. The
standard presents, for example, a scale of discomfort due to
vertical acceleration (Table 1). Table 1 shows the relation
between the root mean square (RMS) acceleration of the
sprung mass and the subjective sensation of the driver and
passengers with regard to the comfort of the vehicle ride.
Table 1: Comfort scale according to ISO 2631

RMS acceleration (m/s²) Comfort scale
≤ 0.315 Comfortable
0.315 – 0.630 Slightly comfortable
0.500 – 1.000 Slightly uncomfortable
0.800 – 1.600 Uncomfortable
1.250 – 2.500 Very uncomfortable
> 2.500 Extremely uncomfortable
Another important system characteristic is the road

condition. The road undulation affects the suspension
motion and, consequently, the vertical and roll dynamics of
the vehicle [15]. Poor road quality generates higher Fig 1: Circuit of the Arduino board and two ADXL345
excitation forces on the wheels, which are transmitted to the accelerometers
_______________________________________________________________________________________
The system offers aneconomic advantage due to low-cost 3. DYNAMIC MODEL

components, sensors and data acquisition hardware. For
instance, the Arduino Uno board and two ADXL345 In this study, the analysis of the vehicle was carried out on a
accelerometers cost around $30.00. simplified dynamic model, that is, a quarter vehicle (car)
model. The model has two degrees of freedom in the vertical
The tested vehicle is a passenger car with front-wheel drive direction, one representing the sprung mass (𝑀) and the
and McPherson suspension in the front axle. The vehicle other the unsprung mass (𝑚).
was instrumented on the right side of the car with two
accelerometers. One was positioned on the lower control Table 2:Weight distribution on the vehicle and suspension
arm of the suspension (unsprung mass) and the other on the stiffness.
front wing support of the sprung mass. Figure 2 illustrates Wheel Weight (kgf) Stiffness (N/m)
the sensors on the vehicle for sprung and unsprung masses Front left 351.0 40413.3
(left and right figure, respectively). Front right 350.0 44470.7
Rear left 224.8 19924.1
For the characterization of the test vehicle, a weighting scale
was used to determine the weight distribution on each Rear right 245.2 23221.3
wheel, as illustrated in Figure 3. During the measurement Total 1171.0 –
process, the mass was obtained considering the vehicle with
a driver and one passenger present. The weight distribution 3.1 Equation of Motion
is shown in Table 2. Also, an equivalent spring stiffness test
In this model, the car weight is divided into four parts and
was carried out by applying different sprung mass heights,
each part is associated with a wheel and the suspension
using an automotive elevator. The measured suspension
system. Figure 4 shows a representation of the vehicle
stiffness is reported in Table 2.
constituted by the sprung mass 𝑀, which represents the
vehicle body, and the unsprung mass 𝑚, which represents
the mass of the axle, brake disc/drum and the mass of the
wheel. The suspension system has 𝐾𝑠 stiffness and 𝐶𝑠
damping parameters. The tire is represented by a stiffness of
𝐾𝑡 . The excitation originating from the road irregularities is
described by the tire displacement (𝑍𝑟 ).
Fig 2: Accelerometer positioned on the sprung mass (left)

and accelerometer positioned on the unsprung mass (right).
Fig 4: Quarter car (vehicle) model.
The resulting equations of motion are shown in Equations

(1) and (2):
𝑀. 𝑍 + 𝐾𝑠 . 𝑍 − 𝑍𝑢 − 𝐶𝑠 . 𝑍 − 𝑍𝑢 = 0 (1)
𝑚. 𝑍𝑢 + 𝐾𝑡 . 𝑍𝑢 − 𝑍𝑟 − 𝐾𝑠 . 𝑍 − 𝑍𝑢 (2)
+ −𝐶𝑠 . 𝑍 − 𝑍𝑢 = 0
Fig 3: Test vehicle.
_______________________________________________________________________________________
3.2 Model Adjustment two cycles of Figure 7 have similar decrements in the
frequency and amplitude; however, after this period the
The numerical adjustment of the model was performed effect of the rear suspension vibration adds a different
based on a previous experiment on the test vehicle. Here, the frequency component to the signal. Since the quarter car
acceleration of the sprung mass can be related to the model model represents two dof dynamics, the simulated response
vibration amplitude. A known road profile (a bump) is would not identify the presence of the new frequency.
applied to excite the front suspension on the right side at a
vehicle speed of 9km/h. For the simulation, the same profile The parameters of the adjusted vehicle model are given in
used in the experiment is measured and described using a Table 3. This resulting numerical adjustment uses a slightly
parabolic function of the bump height. An ultrasonic tape different stiffness value (less than 24%) in the function for
measure supported on a horizontal structure was used for the modelling the response.
discretization of the profile, as shown in Figure 5.
Fig 5: Speed bump used for the model adjustment.
Equation (3) presents an approximated formulation obtained Fig 7: Comparison between simulationand measurement
from the measured points to describe the profile of this data.
bump. The curve is shown in Figure 6, where 𝑦 is the bump
height and 𝑥 is the traverse distance in meters. Table 3: Parameters of the vehicle according to the model
adjustment.
𝑦 = −3.7143. 𝑥 2 + 0.9229. 𝑥 − 0.0014 (3) Variables Symbol Value
Suspension stiffness 𝐾𝑆 55000.0N/m
Damping coefficient 𝐶𝑆 800.0N.s/m
Sprung mass 𝑀 294.0kg
Unsprung mass 𝑚 56.0kg
Tire stiffness 𝐾𝑡 550000.0N/m
4. INTERNATIONAL ROUGHNESS INDEX (IRI)

In general, the IRI has been used worldwide as a tool to
quantify road smoothness. According to Arhin et al.
(2015)[17], it is a standardized measure of vehicle reaction
to the road profile and roughness developed by the World
Bank in the 1980. This mathematical methodology is used to
evaluate the road profile through measuring experimentally
Fig 6: Speed bump profile obtained from parabolic curve. the acceleration of sprung and unsprung masses and using
the adjusted quarter vehicle model [18].
The frequency of the mass oscillation was adjusted, for the
right front suspension, by the weight distribution between The IRI calculation will return a value that is non-
the sprung and unsprung masses, and the decrease in the dimensional or with non-consistent units (m/km or in/mi).
oscillation amplitude provided by the suspension damping The latter is more commonly used. The relationship between
coefficient. A comparison between the simulated response the IRI and the road characteristics is shown in Figure 8.
and the measured vibration is shown in Figure 7. The first The higher the index value the poorer the quality of the road
_______________________________________________________________________________________
surface will be. In the figure, an IRI above 10.0 means 4.2 Analysis of road quality
unpaved road characteristics and an IRI below 4.0 indicates
good pavement surface (i.e., interstate highway or airport According to Du et al. (2014)[19], there is a strong
pavement quality). relationship between the IRI and the vertical acceleration of
the vehicle, since it is based on the quarter vehicle model.
According to [12], using a new quarter vehicle model with
two degrees of freedom, it is possible to calculate the IRI
value. This is called the golden car model, and the input
parameters are defined in Equations (5), (6), (7) and (8). In
this study, the golden car model was defined for an adjusted
sprung mass of 𝑀 = 294 𝑘𝑔.
𝐾𝑠 (5)
= 63.3 𝑠 −2
𝑀
𝐾𝑡 (6)
= 653.0 𝑠 −2
𝑀
𝑚 (7)
= 0.150
𝑀
𝐶𝑠 (8)
= 6.147 𝑠 −1
𝑀
Fig 8: Relationship between IRI and road characteristics From the motion equations of the golden car model, the
vibration response for road excitation is determined through
4.1 Estimation of surfaceroughness a numerical solution. The integration of ordinary differential
Based onthe vehicle data collected, a surface roughness equations is solved using the Runge-Kutta method. The IRI
value can be obtained. Isolating the excitation term, 𝑍𝑟 , of value is calculated through Equation (9), defined by [19], for
Equation (2) results in the road profile, as given in Equation a reference speed of 80km/h.
(4).
𝐿 (9)
1
𝑚. 𝑍𝑢 + 𝐾𝑡 . 𝑍𝑢 − 𝐾𝑠 . 𝑍 − 𝑍𝑢 − 𝐶𝑠 . 𝑍 − 𝑍𝑢 (4) 𝐼𝑅𝐼 = 𝑍 − 𝑍𝑢 𝑑𝑡
𝑍𝑟 = 𝐿
𝐾𝑡 0
where 𝐿 is the distance traveled by the vehicle (m),𝑍 is

Since the terms on the right side of the equation are all sprung mass velocity (m/s) and 𝑍𝑢 is the unsprung mass
known, being determined numerically or by measurements, velocity (m/s). The variables 𝑍 and 𝑍𝑢 are obtained as the
it is possible to find the profile of the 𝑍𝑟 based on the numerical integration solution of the golden car equations
parameters of the quarter car model. The dof of the with excitement by the road roughness obtained from
velocities and displacements are obtained using numerical Equation (4).
integration applying the trapezoidal rule.
The flowchart in Figure 9 summarizes the steps followed to
determine the IRI value.
Vehicular
Speed test
bump •Comparison
•Estimation of • Golden car
• Matlab • Sprung and model
• Experiment vehicle unsprung mass
• 2 dof model parameters • IRI values
• Sprung mass vibration
vibration • Road profile
Numerical Calculation of
simualtion Model
adjustment IRI
Fig 9: Flowchart showing calculation of IRI.

_______________________________________________________________________________________
5. EXPERIMENTALRESULTS
After the model updating procedure conducted with the test
vehicle, on-road testing to verify the IRI calculation was
performed in the city of Joinville in October 2017. After the
data collection, signal processing was carried out using a
digital filter. This procedure was configured for a second-
order high pass Butterworth filter with a cutoff frequency of
1.0Hz.
Seeking to include different pavement qualities, the area

chosen for the vehicular tests was comprised of junctions
between main roads and small side streets. The driving route
is shown on the map in Figure 10, where the stretches of
road were numbered according to the streets included in the
test. The test setting on the vehicle to evaluate the vibration
measurement was a speed of 40km/h. Images of some of the
pavements tested and their irregularities are shown in Figure
11.
Vibration measurements were taken on these routes and, as

an example, Figure 12 shows the vibratory acceleration on
route 1. Based on this figure, the measurement results can be
compared with those obtained for the sprung and unsprung
masses. The sprung mass has a more attenuated response Fig 11: Illustration of road conditions. (a) route 1, (b) route
than the unsprung mass, as expected from the suspension 2, (c) route 5, (d) route 6, (e) route 7 and (f) route 8
performance.
Numerical analysis with the spring-mass model was used to

calculate the road roughness according to Equation (4). The
result for route 1 is shown in Figure 13. The graph shows a
typical profile for an old cobbled road. The vibration can be
considered to be the oscillatory motion around the
equilibrium position.
Fig 12: Sprung and unsprung mass vibration along route 1.
Fig 10: Map of Joinville showing the streets used to obtain

the measurements.
_______________________________________________________________________________________
12 reached 3.1m/s², indicating excessive discomfort to the

occupants of the vehicle.
On the other hand, route 5, a road with better conservation

characteristics, presented a lower IRI value (2.9 𝑚/𝑘𝑚). A
lower IRI value is consistent with low oscillation amplitude
along the route and indicates new pavement conditions.
Thus, vehicle speeds over 100km/h would be acceptable,
based on the subjective assessment of the vibrations. For the
vehicle occupants, this level of oscillation comes as close as
possible to conditions of comfort. From an analysis of the
RMS average, the sprung mass value calculated for route 5
is approximately 1.0m/s². According to Table 1, this
characterizes a not very comfortable situation, due to the
small irregularities present on the asphalt surface.
In relation to the other IRI values for routes 2 to 8, there is a

Fig 13: Estimation of road profile for route 1. variation in the values for routes 1 and 5. These show an
intermediate road quality with different types of pavement
Through the estimated profiles and with the parameters of roughness. For pavement roads with potholes the IRI values
the golden car model, the IRI values for each of the routes in are also higher, as observed for route 8 (𝐼𝑅𝐼 = 10.1 𝑚/𝑘𝑚).
Table 4 were calculated. The values refer to the IRI for the
whole stretch of road measured. Both the IRI methodology and objective evaluation, based
on mass acceleration, for road quality classification indicate
Table 4: IRI values for the stretches of road measured. a strong correlation with subjective feelings. Therefore, the
Distance IRI parameters obtained in this study are sufficiently accurate
Route Street
(m) (m/km) and effective for use as an auxiliary tool to express human
1 Prudente de Moraes 1149.0 14.9 assessments of road excitation.
2 Blumenau 1684.5 3.7 6. CONCLUSION
3 Marcílio Dias 744.1 5.3 During the design of a vehicle, the use of simulations has
4 Guilherme proved to bean important tool, as it is possible to obtain
109.0 16.0 faster results, reducing the cost of the project and optimizing
5 Getúlio Vargas 1088.4 2.9 the product design. One of the factors that have contributed
to increasing vehicle performance is the evaluation of the
6 Coronel Procópio comfort experienced by the driver and passengers. A vehicle
356.9 4.8
Gomes design needs to provide good ride quality and this requires a
7 Albano Schmidt 2499.6 6.9 knowledge of road surface conditions. Therefore, the road
8 Helmut Falgatter condition has to be monitored and classified to ensure that
2838.8 10.1 international quality standards are met and this requires the
use of an indicator to identify a relative quality of the road.
The graphs in Figure 12 show that for the more rugged roads
paved with cobble stones, such as route 1 (𝐼𝑅𝐼 = The international roughness index (IRI) standard is usually
14.9 𝑚/𝑘𝑚), the accelerations of the mass of the vehicle employed to measure road irregularities and this index has
are greater than on paved roads and result in a higher IRI shown a strong relationship with the comfort of the vehicle
value. Also, as shown in Figure 8, based on [12] and ASTM user. In this regard, a high IRI value indicates low ride
E1926-08 (2015)[20], this higher IRI value indicates that the quality, while a low IRI value indicates acceptable or good
road is not paved or is damaged. When a stretch of road is ride quality. In this study, the methodology of indirect
not well maintained there will be a greater amount of identification via the calculation of the IRI was performed
unevenness and undulations, resulting in greater oscillation by computing a two dof model (golden car model).A quarter
of the mass of the vehicle. Therefore, at speeds up to car model based on the tested vehicle was adjusted from the
40km/h the vehicle will perform with less comfort and less mass vibration and sprung and unsprung masses to
preservation of the mechanical components due to fatigue. determine the road irregularity, which is employed as an
input for the golden car model.
According to ISO 2631 (1997)[14], as shown in Table 1,
accelerations above 1m/s² cause significant discomfort to The measurements carried out in this study, in the city of
passengers if sustained for a long period. The average RMS Joinville, resulted in IRI values which represented the
value for the sprung mass obtained from the data in Figure quality of the road conservation. A pavement surface with
_______________________________________________________________________________________
many irregularities, such as a cobbled street, provided IRI requirements. 2 ed. International Organization for
values around 15.0m/km (route 1), which is classified as a Standardization. Geneva, Swiss, 1997.
damaged pavement in Figure 8. In contrast, for a smoother [15] Loprencipe, G.; Zoccali, P. Use of generated artificial
road, such as an asphalt pavement, the IRI value was road profiles in road roughness evaluation. J. Mod.
2.9m/km (route 5), indicating anew pavement. Therefore, Transport. 25, 1, p.24–33, 2017.
this methodology focuses on the application of analytical- [16] Liang, S.; Sun, Y.; Zhu, Q.; Yang, Z.; Zeng, C. Ride
based models to determine an index to classify road surface comfort analysis of a nonlinear vehicle excited by the
quality, using low-cost instrumentation. consecutive speed-control humps. Journal of
Vibroengineering, 15, 4, p.1656-1664.
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IJRET: International Journal of Research in Engineering and Technology eISSN: 2319-1163 | pISSN: 2321-7308

https://doi.org/10.15623/ijret.2018.0709011 Received: 25-06-2018, Accepted: 06-08-2018, Published: 27-08-2018