{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T14:18:17Z","timestamp":1780928297628,"version":"3.54.1"},"reference-count":53,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2017,2,7]],"date-time":"2017-02-07T00:00:00Z","timestamp":1486425600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Commission Horizon 2020 Programme","award":["687959"],"award-info":[{"award-number":["687959"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>SmartRoadSense is a crowdsensing project aimed at monitoring the conditions of the road surface. Using the sensors of a smartphone, SmartRoadSense monitors the vertical accelerations inside a vehicle traveling the road and extracts a roughness index conveying information about the road conditions. The roughness index and the smartphone GPS data are periodically sent to a central server where they are processed, associated with the specific road, and aggregated with data measured by other smartphones. This paper studies how the smartphone vertical accelerations and the roughness index are related to the vehicle speed. It is shown that the dependence can be locally approximated with a gamma (power) law. Extensive experimental results using data extracted from SmartRoadSense database confirm the gamma law relationship between the roughness index and the vehicle speed. The gamma law is then used for improving the SmartRoadSense data aggregation accounting for the effect of vehicle speed.<\/jats:p>","DOI":"10.3390\/s17020305","type":"journal-article","created":{"date-parts":[[2017,2,7]],"date-time":"2017-02-07T12:08:18Z","timestamp":1486469298000},"page":"305","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":55,"title":["A Study on the Influence of Speed on Road Roughness Sensing: The SmartRoadSense Case"],"prefix":"10.3390","volume":"17","author":[{"given":"Giacomo","family":"Alessandroni","sequence":"first","affiliation":[{"name":"DiSPeA\u2014University of Urbino, 61029 Urbino, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4600-8123","authenticated-orcid":false,"given":"Alberto","family":"Carini","sequence":"additional","affiliation":[{"name":"DiSPeA\u2014University of Urbino, 61029 Urbino, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6568-8470","authenticated-orcid":false,"given":"Emanuele","family":"Lattanzi","sequence":"additional","affiliation":[{"name":"DiSPeA\u2014University of Urbino, 61029 Urbino, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Valerio","family":"Freschi","sequence":"additional","affiliation":[{"name":"DiSPeA\u2014University of Urbino, 61029 Urbino, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6666-3315","authenticated-orcid":false,"given":"Alessandro","family":"Bogliolo","sequence":"additional","affiliation":[{"name":"DiSPeA\u2014University of Urbino, 61029 Urbino, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,2,7]]},"reference":[{"key":"ref_1","unstructured":"Society of Automotive Engineers, and Vehicle Dynamics Committee (1965). Ride and Vibration Data Manual: SAE J6a: Report of Riding Comfort Research Committee Approved July 1946 and Last Revised by the Vehicle Dynamics Committee October 1965, Society of Automotive Engineers. SAE Information Report."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1080\/00423117908968607","article-title":"Optimization Criteria for Vehicles Travelling on a Randomly Profiled Road\u2014A Survey","volume":"8","author":"Dahlberg","year":"1979","journal-title":"Veh. Syst. Dyn."},{"key":"ref_3","unstructured":"National Quality Initiative Steering Committee (U.S.) National Highway User Survey, Available online: http:\/\/ntl.bts.gov\/lib\/6000\/6900\/6952\/nqinhus.pdf."},{"key":"ref_4","unstructured":"Laurent, J., Talbot, M., and Doucet, M. (1997, January 12\u201315). Road surface inspection using laser scanners adapted for the high precision 3D measurements of large flat surfaces. Proceedings of the IEEE International Conference on Recent Advances in 3-D Digital Imaging and Modeling, Ottawa, ON, Canada."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"795","DOI":"10.1109\/TITS.2011.2132799","article-title":"A recursive multiscale correlation-averaging algorithm for an automated distributed road-condition-monitoring system","volume":"12","author":"Ndoye","year":"2011","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1080\/00423110701485050","article-title":"The use of vehicle acceleration measurements to estimate road roughness","volume":"46","author":"Li","year":"2008","journal-title":"Veh. Syst. Dyn."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Eriksson, J., Girod, L., Hull, B., Newton, R., Madden, S., and Balakrishnan, H. (2008, January 10\u201313). The pothole patrol: Using a mobile sensor network for road surface monitoring. Proceedings of the 6th ACM International Conference on Mobile Systems, Applications, and Services, Breckenridge, CO, USA.","DOI":"10.1145\/1378600.1378605"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Mohan, P., Padmanabhan, V.N., and Ramjee, R. (2008, January 5\u20137). Nericell: Rich monitoring of road and traffic conditions using mobile smartphones. Proceedings of the 6th ACM Conference on Embedded Network Sensor Systems, Raleigh, NC, USA.","DOI":"10.1145\/1460412.1460444"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Mednis, A., Strazdins, G., Zviedris, R., Kanonirs, G., and Selavo, L. (2011, January 27\u201329). Real time pothole detection using android smartphones with accelerometers. Proceedings of the 2011 International Conference on Distributed Computing in Sensor Systems and Workshops (DCOSS), Barcelona, Spain.","DOI":"10.1109\/DCOSS.2011.5982206"},{"key":"ref_10","unstructured":"Strazdins, G., Mednis, A., Kanonirs, G., Zviedris, R., and Selavo, L. (2011, January 11\u201312). Towards vehicular sensor networks with android smartphones for road surface monitoring. Proceedings of the 2nd International Workshop on Networks of Cooperating Objects, Chicago, IL, USA."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Bhoraskar, R., Vankadhara, N., Raman, B., and Kulkarni, P. (2012, January 3\u20137). Wolverine: Traffic and road condition estimation using smartphone sensors. Proceedings of the COMSNETS \u201912, Bangalore, India.","DOI":"10.1109\/COMSNETS.2012.6151382"},{"key":"ref_12","unstructured":"Seraj, F., Zwaag, B.J., Dilo, A., Luarasi, T., and Havinga, P. (2014). Proceedings of the SenseML \u201914, Nancy, France, 15 Septermber 2014, Springer. Lecture Notes in Computer Science."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Seraj, F., Zhang, K., Turkes, O., Meratnia, N., and Havinga, P.J.M. (2015, January 7\u201311). A Smartphone Based Method to Enhance Road Pavement Anomaly Detection by Analyzing the Driver Behavior. Proceedings of the UbiComp \u201915, Osaka, Japan.","DOI":"10.1145\/2800835.2800981"},{"key":"ref_14","unstructured":"Tai, Y., Chan, C., and Hsu, J.Y. (2010, January 18\u201320). Automatic road anomaly detection using smart mobile device. Proceedings of the Conference on Technologies and Applications of Artificial Intelligence, Hsinchu, Taiwan."},{"key":"ref_15","unstructured":"Perttunen, M., Mazhelis, O., Cong, F., Kauppila, M., Lepp\u00e4nen, T., Kantola, J., Collin, J., Pirttikangas, S., Haverinen, J., and Ristaniemi, T. (2011). Ubiquitous Intelligence and Computing, Springer."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1016\/j.sbspro.2014.01.057","article-title":"Automated sensing system for monitoring of road surface quality by mobile devices","volume":"111","author":"Astarita","year":"2014","journal-title":"Proc. Soc. Behav. Sci."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1905","DOI":"10.1109\/TITS.2014.2378511","article-title":"Toward Crowdsourcing-Based Road Pavement Monitoring by Mobile Sensing Technologies","volume":"16","author":"Yi","year":"2015","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_18","unstructured":"Mohamed, A., Fouad, M.M.M., Elhariri, E., El-Bendary, N., Zawbaa, H.M., Tahoun, M., and Hassanien, A.E. (2015). Proceedings of the Intelligent Systems 2014, Warsaw, Poland, 24\u201326 September 2014, Springer."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s12544-016-0200-1","article-title":"Characterisation of road bumps using smartphones","volume":"8","author":"Mukherjee","year":"2016","journal-title":"Eur. Transp. Res. Rev."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1905","DOI":"10.1109\/TITS.2014.2378511","article-title":"Toward crowdsourcing-based road pavement monitoring by mobile sensing technologies","volume":"16","author":"Yi","year":"2015","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Jang, J., Yang, Y., Smyth, A.W., Cavalcanti, D., and Kumar, R. (2016). Framework of Data Acquisition and Integration for the Detection of Pavement Distress via Multiple Vehicles. J. Comput. Civ. Eng.","DOI":"10.1061\/(ASCE)CP.1943-5487.0000618"},{"key":"ref_22","unstructured":"Chen, K., Lu, M., Tan, G., and Wu, J. (2013, January 13\u201315). CRSM: Crowdsourcing Based Road Surface Monitoring. Proceedings of the HPCC EUC \u201913, Zhangjiajie, China."},{"key":"ref_23","first-page":"1551","article-title":"A study on the use of smartphones for road roughness condition estimation","volume":"10","author":"Douangphachanh","year":"2013","journal-title":"J. East. Asia Soc. Transp. Stud."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Douangphachanh, V., and Oneyama, H. (2013, January 1\u20134). Using Smartphones to Estimate Road Pavement Condition. Proceedings of the International Symposium of Next Generation Infrastructure, Wollongong, Australia.","DOI":"10.14453\/isngi2013.proc.16"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/1687-1499-2014-114","article-title":"A study on the use of smartphones under realistic settings to estimate road roughness condition","volume":"2014","author":"Douangphachanh","year":"2014","journal-title":"EURASIP J. Wirel. Commun. Netw."},{"key":"ref_26","unstructured":"Bogliolo, A., Aldini, A., Alessandroni, G., Carini, A., Delpriori, S., Freschi, V., Klopfenstein, L., Lattanzi, E., Luchetti, G., and Paolini, B. The SmartRoadSense Website. Available online: http:\/\/smartroadsense.it\/."},{"key":"ref_27","unstructured":"Alessandroni, G., Klopfenstein, L., Delpriori, S., Dromedari, M., Luchetti, G., Paolini, B., Seraghiti, A., Lattanzi, E., Freschi, V., and Carini, A. (2014, January 24\u201328). SmartRoadSense: Collaborative Road Surface Condition Monitoring. Proceedings of the UBICOMM 2014: The Eighth International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies, Rome, Italy."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Alessandroni, G., Carini, A., Lattanzi, E., and Bogliolo, A. (2015, January 7\u20139). Sensing Road Roughness via Mobile Devices: A Study on Speed Influence. Proceedings of the ISPA 2015: The 9th International Symposium on Image and Signal Processing and Analysis, Zagreb, Croatia.","DOI":"10.1109\/ISPA.2015.7306071"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"765","DOI":"10.1007\/s11276-015-0996-y","article-title":"CRSM: A practical crowdsourcing-based road surface monitoring system","volume":"22","author":"Chen","year":"2016","journal-title":"Wirel. Netw."},{"key":"ref_30","unstructured":"Laubis, K., Simko, V., and Schuller, A. (2016, January 11\u201314). Road Condition Measurement and Assessment: A Crowd Based Sensing Approach. Proceedings of the Thirty Seventh International Conference on Information Systems, Dublin, Ireland."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Kumar, R., Mukherjee, A., and Singh, V. (2016). Community Sensor Network for Monitoring Road Roughness Using Smartphones. J. Comput. Civ. Eng.","DOI":"10.1061\/(ASCE)CP.1943-5487.0000624"},{"key":"ref_32","first-page":"12","article-title":"Study on Calculation of IRI Based on Power Spectral Density of Pavement Surface Roughness","volume":"8","author":"Lou","year":"2007","journal-title":"J. Highw. Transp. Res. Dev."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Freschi, V., Delpriori, S., Klopfenstein, L., Lattanzi, E., Luchetti, G., and Bogliolo, A. (2014, January 3\u20137). Geospatial Data Aggregation and Reduction in Vehicular Sensing Applications: The Case of Road Surface Monitoring. Proceedings of the IEEE 3rd International Conference on Connected Vehicles & Expo, Wien, Vienna.","DOI":"10.1109\/ICCVE.2014.7297643"},{"key":"ref_34","unstructured":"Central Intelligence Agency (2015). The World Factbook."},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Gillespie, T.D. (1992). Fundamentals of Vehicle Dynamics, Society of Automotive Engineers Inc.","DOI":"10.4271\/R-114"},{"key":"ref_36","unstructured":"Wong, J.Y. (2001). Theory of Ground Vehicles, John Wiley & Sons."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Ndoye, M., Vanjari, S., Huh, H., Krogmeier, J., Bullock, D., Hedges, C., and Adewunmi, A. (2006, January 24\u201327). Sensing and signal processing for a distributed pavement monitoring system. Proceedings of the 2006 IEEE 12th Digital Signal Processing Workshop & 4th IEEE Signal Processing Education Workshop (DSP\/SPE), Teton National Park, WY, USA.","DOI":"10.1109\/DSPWS.2006.265446"},{"key":"ref_38","unstructured":"Bogsj\u00f6, K. (2007). Road Profile Statistics Relevant for Vehicle Fatigue. [Ph.D. Thesis, Lund University]."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"725","DOI":"10.1080\/00423114.2011.637566","article-title":"Models for road surface roughness","volume":"50","author":"Rychlik","year":"2012","journal-title":"Veh. Syst. Dyn."},{"key":"ref_40","unstructured":"Chalasani, R.M. (1986, January 7\u201312). Ride performance potential of active suspension systems\u2013Part I: Simplified analysis based on a quarter-car model. Proceedings of the 1986 ASME Winter Annual Meeting, Anaheim, CA, USA."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1080\/00423118808968911","article-title":"Optimal linear active suspensions with integral constraint","volume":"17","author":"Davis","year":"1988","journal-title":"Veh. Syst. Dyn."},{"key":"ref_42","unstructured":"Butsuen, T. (1989). The Design of Semi-Active Suspensions for Automotive Vehicles. [Ph.D. Thesis, Massachusetts Institute of Technology]."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/87.974337","article-title":"Road adaptive active suspension design using linear parameter-varying gain-scheduling","volume":"10","author":"Fialho","year":"2002","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"581","DOI":"10.1177\/1077546305052315","article-title":"Design optimization of quarter-car models with passive and semi-active suspensions under random road excitation","volume":"11","author":"Verros","year":"2005","journal-title":"J. Vib. Control"},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"081008","DOI":"10.1115\/1.3178729","article-title":"Optimal partitioning and coordination decisions in decomposition-based design optimization","volume":"131","author":"Allison","year":"2009","journal-title":"J. Mech. Des."},{"key":"ref_46","first-page":"258","article-title":"Fuzzy control of a quarter-car suspension system","volume":"53","author":"Salem","year":"2009","journal-title":"World Acad. Sci. Eng. Technol."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1016\/j.cam.2006.11.021","article-title":"Vectorized adaptive quadrature in MATLAB","volume":"211","author":"Shampine","year":"2008","journal-title":"J. Comput. Appl. Math."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"609","DOI":"10.1109\/TASSP.1980.1163489","article-title":"The Burg algorithm for LPC Speech analysis\/synthesis","volume":"28","author":"Gray","year":"1980","journal-title":"IEEE Trans. Acoust. Speech Signal Proc."},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1109\/TASSP.1979.1163237","article-title":"Predictive coding of speech signals and subjective error criteria","volume":"27","author":"Atal","year":"1979","journal-title":"IEEE Trans. Acoust. Speech Signal Proc."},{"key":"ref_50","doi-asserted-by":"crossref","unstructured":"Jackson, L.B. (1989). Digital Filters and Signal Processing, Kluwer Academic Publishers. [2nd ed.].","DOI":"10.1007\/978-1-4615-3262-0"},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1002\/sapm1946251261","article-title":"The Wiener RMS error criterion in filter design and prediction","volume":"25","author":"Levinson","year":"1947","journal-title":"J. Math. Phys."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"233","DOI":"10.2307\/1401322","article-title":"The fitting of time-series models","volume":"28","author":"Durbin","year":"1960","journal-title":"Revue de l\u2019Institut International de Statistique"},{"key":"ref_53","unstructured":"OpenStreetMap Wiki Key: Highway\u2014OpenStreetMap Wiki. Available online: http:\/\/wiki.openstreetmap.org\/wiki\/Key:highway."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/2\/305\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:27:38Z","timestamp":1760207258000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/2\/305"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,2,7]]},"references-count":53,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2017,2]]}},"alternative-id":["s17020305"],"URL":"https:\/\/doi.org\/10.3390\/s17020305","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,2,7]]}}}