# US 12,760,477 B2 · Road roughness system for a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,760,477 B2 - Document ID: US12760477B2 - Status: Granted - Kind: B2 - Application number: 18/953,349 - Filed: 2024-11-20 - Published: 2026-05-21 - Granted: 2026-10-13 - Earliest claimed: 2024-11-20 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Hassan Askari; Mohammadali Shahriari; Reza Zarringhalam; Khizar Ahmad Qureshi; Matan Yeger; Mehdi Abroshan - Web page: https://patentgrep.com/patent/US12760477B2 ## CPC - E01C 23/01: Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed {or reference line} supports (form rails E01C19/50); Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs (E01C23/07 takes precedence; measuring roughness or irregularity in general G01B) - B60W 30/18009: {related to particular drive situations} - B60W 2552/35: Road bumpiness, e.g. potholes - B60W 2720/10: Longitudinal speed - E01C: CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR (forming roads or like surfaces by compacting or grading snow or ice E01H) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A method including receiving, at a road roughness algorithm, a plurality of sensor data, determining, via the road roughness algorithm, the wheel data exceeds a wheel threshold and a severity level exceeding the wheel threshold, executing a wheel flag, determining, based on the wheel flag, the ride height data exceeds a ride height threshold, executing a ride height flag, determining, based on the wheel flag and the ride height flag, a time duration of a wheel jerk of the wheel data exceeds a time threshold, identifying, via the road roughness algorithm, a change in IMU that exceed an IMU threshold, executing, based on the change in the IMU exceeding the IMU threshold, an IMU flag, adjusting, based on the IMU flag, parameters of the road roughness algorithm, and fusing the wheel flag, the ride height flag, and the IMU flag to define a road anomaly. ## Claims ### Claim 1 A computer-implemented method when executed by data processing hardware causes the data processing hardware to perform operations comprising: receiving, at a road roughness algorithm, a plurality of sensor data from a plurality of sensors of a vehicle, the sensor data including wheel data and ride height data; determining, via the road roughness algorithm, the wheel data exceeds a wheel threshold and a severity level associated with the wheel data exceeds the wheel threshold; executing, based on the wheel data exceeding the wheel threshold, a wheel flag, the wheel flag including one or more wheel identifications (IDs), the road roughness algorithm being configured to identify a wheel of the vehicle based on the wheel IDs; determining, based on the wheel flag, the ride height data exceeds a ride height threshold; executing, based on the ride height data exceeding the ride height threshold, a ride height flag; determining, based on the wheel flag and the ride height flag, a time duration of a wheel jerk of the wheel data exceeds a time threshold; identifying, via the road roughness algorithm, a change in initial measurement units (IMU) that exceed an IMU threshold; executing, based on the change in the IMU exceeding the IMU threshold, an IMU flag; adjusting, based on the IMU flag, one or more parameters of the road roughness algorithm; fusing, via the road roughness algorithm, the wheel flag, the ride height flag, and the IMU flag to define a road anomaly; mitigating the road anomaly by reducing a speed of the vehicle; and executing, via the road roughness algorithm, a control and mitigation function. ### Claim 2 (depends on 1) The method of claim 1, wherein determining, based on the wheel flag and the ride height flag, the time duration of the wheel jerk of the wheel data exceeds the time threshold includes comparing the time duration to a maturity flag. ### Claim 3 (depends on 2) The method of claim 2, further comprising identifying a condition of the vehicle from the wheel data and determining, based on the comparison of the time duration with the time threshold, the condition has existed for a period of time. ### Claim 4 (depends on 3) The method of claim 3, further comprising raising, based on the condition existing for the period of time, the maturity flag. ### Claim 5 (depends on 1) The method of claim 1, wherein adjusting the one or more parameters includes identifying a severity level of the one or more parameters. ### Claim 6 (depends on 1) The method of claim 1, wherein the wheel data includes wheel jerk data. ### Claim 7 (depends on 1) The method of claim 1, wherein mitigating the road anomaly includes adjusting the wheel corresponding to the wheel ID. ### Claim 8 (depends on 1) The method of claim 1, wherein determining the wheel data exceeds the wheel threshold includes generating a second derivative of the wheel data and identifying the wheel jerk of the wheel data. ### Claim 9 (depends on 1) The method of claim 1, wherein the IMU includes at least two primary components and identifying the change in the IMU includes identifying a change in the at least two primary components exceeds the IMU threshold. ### Claim 10 A road roughness system for a vehicle, the road roughness system comprising: data processing hardware; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising: receiving, at a road roughness algorithm, a plurality of sensor data from a plurality of sensors of the vehicle, the sensor data including wheel data and ride height data; determining, via the road roughness algorithm, the wheel data exceeds a wheel threshold and a severity level associated with the wheel data exceeds the wheel threshold; executing, based on the wheel data exceeding the wheel threshold and the severity level of the wheel data, a wheel flag, the wheel flag including one or more wheel identifications (IDs), the road roughness algorithm being configured to identify a wheel of the vehicle based on the wheel ID; determining, based on the wheel flag, the ride height data exceeds a ride height threshold; executing, based on the ride height data exceeding the ride height threshold, a ride height flag; determining, based on the wheel flag and the ride height flag, a time duration of a wheel jerk of the wheel data exceeds a time threshold; identifying, via the road roughness algorithm, a change in initial measurement units (IMU) that exceed an IMU threshold; executing, based on the change in the IMU exceeding the IMU threshold, an IMU flag; adjusting, based on the IMU flag, one or more parameters of the road roughness algorithm; and fusing, via the road roughness algorithm, the wheel flag, the ride height flag, and the IMU flag to define a road anomaly; mitigating the road anomaly by reducing a speed of the vehicle; and executing, via the road roughness algorithm, a control and mitigation function. ### Claim 11 (depends on 10) The road roughness system of claim 10, wherein determining, based on the wheel flag and the ride height flag, the time duration of the wheel jerk of the wheel data exceeds the time threshold includes comparing the time duration to a maturity flag. ### Claim 12 (depends on 11) The road roughness system of claim 11, further comprising identifying a condition of the vehicle from the wheel data and determining, based on the comparison of the time duration with the time threshold, the condition has existed for a period of time. ### Claim 13 (depends on 12) The road roughness system of claim 12, further comprising raising, based on the condition existing for the period of time, the maturity flag. ### Claim 14 (depends on 10) The road roughness system of claim 10, wherein adjusting the one or more parameters includes identifying a severity level of the one or more parameters. ### Claim 15 (depends on 10) The road roughness system of claim 10, wherein the wheel data includes wheel jerk data. ### Claim 16 (depends on 10) The road roughness system of claim 10, wherein mitigating the road anomaly includes adjusting the wheel corresponding to the wheel ID. ### Claim 17 (depends on 10) The road roughness system of claim 10, wherein determining the wheel data exceeds the wheel threshold includes generating a second derivative of the wheel data and identifying the wheel jerk of the wheel data. ### Claim 18 (depends on 10) The road roughness system of claim 10, wherein the IMU includes at least two primary components and identifying the change in the IMU includes identifying a change in the at least two primary components exceeds the IMU threshold. ### Claim 19 A road roughness system for a vehicle, the road roughness system comprising: data processing hardware; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising: receiving, at a road roughness algorithm, a plurality of sensor data from a plurality of sensors of the vehicle, the sensor data including wheel data and ride height data; determining, via the road roughness algorithm, the wheel data exceeds a wheel threshold and a severity level associated with the wheel data exceeds the wheel threshold, the wheel data including wheel identifications (IDs) associated with a respective wheel of the vehicle; executing, based on the wheel data exceeding the wheel threshold, a wheel flag, the wheel flag including one or more of the wheel IDs, the road roughness algorithm being configured to identify a wheel of the vehicle based on the wheel ID; determining, in response to the wheel flag, the ride height data exceeds a ride height threshold; executing, based on the ride height data exceeding the ride height threshold, a ride height flag; determining, in response to the wheel flag and the ride height flag, a time duration of a wheel jerk of the wheel data exceeds a time threshold; identifying, via the road roughness algorithm, a change in initial measurement units (IMU) that exceeds an IMU threshold; executing, based on the change in the IMU exceeding the IMU threshold, an IMU flag; adjusting, in response to the IMU flag, one or more parameters of the road roughness algorithm; fusing, via the road roughness algorithm, the wheel flag, the ride height flag, and the IMU flag to define a road anomaly; and mitigating the road anomaly by reducing a speed of the vehicle and executing, via the road roughness algorithm, a control and mitigation function. ### Claim 20 (depends on 19) The road roughness system of claim 19, wherein mitigating the road anomaly includes adjusting the wheel corresponding to the respective wheel ID.