Motion planning method for ensuring safe driving of unmanned vehicle on three-dimensional terrain

Abstract

The invention relates to a motion planning method considering a three-dimensional terrain, in particular to motion planning of an unmanned vehicle in the three-dimensional terrain, and belongs to the field of unmanned vehicle motion planning. In order to ensure the driving safety of an unmanned vehicle on a three-dimensional terrain surface and enhance the reasonability of motion planning in the three-dimensional terrain, the invention provides a motion planning method for ensuring the safe driving of the unmanned vehicle on the three-dimensional terrain. The main content is divided into four parts, and the terrain environment representation and pose projection method is the basis of subsequent operation. The terrain trafficability discrimination algorithm considers the influence of the road surface roughness and the ground shape on the trafficability, and ensures the static stability of the vehicle. The three-dimensional terrain path planning comprises two steps of reference path generation and traceable path generation. The speed planning comprises two steps of initial speed curve generation and speed curve smoothing.

Description

technical field [0001] The invention relates to a motion planning method considering three-dimensional terrain, in particular to motion planning in three-dimensional terrain of an unmanned vehicle, and belongs to the field of unmanned vehicle motion planning. Background technique [0002] As the cutting-edge technology of today's vehicles, unmanned driving technology has attracted extensive attention from scholars from all over the world. The motion planning technology of unmanned vehicles is one of the core technologies of unmanned vehicles. With the large amount of research funds and research energy invested in the field of urban autonomous driving in recent years, the research on motion planning technology of unmanned vehicles has also achieved fruitful results. However, there is currently no mature motion planning solution for off-road environments and uneven road scenarios. For example, in the military field where off-road environments are the mainstay, unmanned vehicle...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing motion planning algorithms for unmanned vehicles are planned on a two-dimensional plane, ignoring the influence of the ground shape, and not considering the impact on the stability of the vehicle when the vehicle's attitude changes such as pitch and roll on uneven roads

There are also some motion planning methods and theories that consider some terrain characteristics in off-road environments, but these methods still have defects such as incomplete consideration, difficulty in finding solutions, and low solution efficiency.

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