Cramer-Rao Bounds for Road Profile Estimation

Abstract

In this paper, we study estimator accuracy in road profile identification. We derive a Cramer-Rao lower bound on the variances of all unbiased waviness parameter estimators for an ISO 8608 road profile, widely used in vehicle simulation and suspension control system designs. This bound explains how an estimator variance at best changes as frequency and the value of the waviness parameter change.