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.

    本发明涉及一种考虑三维地形的运动规划方法,尤其涉及一种无人车辆三维地形中的运动规划,属于无人车辆运动规划领域。本发明为了保证无人车辆在三维地形面上的行驶安全性,增强在三维地形中运动规划的合理性,提出了一种保证无人车在三维地形上安全行驶的运动规划方法。主要内容分为四部分,地形环境表示与位姿投影方法是后续操作的基础。地形可通行性判别算法考虑到路面粗糙度与地面形状对可通行性的影响,保证车辆静态稳定性。三维地形路径规划包括参考路径生成和可跟踪路径生成两个步骤。速度规划包括初始速度曲线生成和速度曲线平滑两个步骤。


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    Title :

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


    Additional title:

    一种保证无人车在三维地形上安全行驶的运动规划方法


    Contributors:
    XIONG GUANGMING (author) / ZHAO MINGZHU (author) / YANG TIAN (author) / YU QUANFU (author) / GONG JIANWEI (author)

    Publication date :

    2021-06-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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