The invention belongs to the technical field of ground unmanned platform automatic driving, and particularly relates to an unmanned vehicle speed constraint method based on road curvature in an unstructured environment, and the method comprises the steps: carrying out the calculation of the forward path curvature of an unmanned vehicle through the maneuvering global path points of an unmanned platform; and calculating the maximum passing speed which can be borne when passing through the road section by combining a rollover critical value, namely the maximum transverse acceleration, given by a vehicle kinematics model, so as to ensure the maneuvering safety of the unmanned vehicle. In an off-road environment with irregular constraints and scarce and changeable features, the curvature of a driving road is monitored in real time through a global maneuvering path received in the maneuvering process of the unmanned vehicle, the highest maneuvering speed for ensuring safe passing of the vehicle is calculated in real time according to the road curvature, and the safety and high efficiency of maneuvering of the unmanned vehicle can be considered at the same time. Meanwhile, the method is realized only by means of software functions, has good adaptability to various military unmanned platforms, and can effectively control the cost.

    本发明属于地面无人平台自动驾驶技术领域,具体涉及一种非结构化环境下基于道路曲率的无人车辆速度约束方法,所述方法通过无人平台机动的全局路径点对无人车辆前向路径曲率进行计算,结合车辆运动学模型所给出的侧翻临界值,即最大横向加速度,计算出通过该路段时所能承受的最大通行速度,确保无人车辆机动的安全性。在无规则约束、特征稀缺多变的越野环境下,通过无人车辆机动过程中所接收的全局机动路径实时对行驶道路曲率进行监测,并根据道路曲率实时解算确保车辆安全通行的最高机动速度,能够同时兼顾无人车辆机动的安全性与高效性。同时,所述方法本身仅依靠软件功能实现,对军用各类无人平台均具备良好的适应性,且能有效控制成本。


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    Title :

    Unmanned vehicle speed constraint method based on road curvature in unstructured environment


    Additional title:

    非结构化环境下基于道路曲率的无人车辆速度约束方法


    Contributors:
    LI ZHAODONG (author) / CHO HEE-JOON (author) / YANG TINGTING (author) / CUI XING (author) / FU RAO (author) / ZHENG JIAJIE (author) / CAO BINGQUAN (author) / CHEN JIAQI (author) / WANG YIQUAN (author) / YANG YU (author)

    Publication date :

    2025-05-09


    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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