考虑复杂地形和障碍尺度的无人车轨迹规划

Unstructured road often has uneven surface and varying obstacle sizes. Negleoting the uneven terrain and handling obstaoles improperly can lead to an imbalanoe between vehicle safety and travel efficiency. To cope with this challenge, in this paper a trajectory planning method that considers eomplex terrain and obstacle scales (TOTP) for unstructured road is proposed. Firstly, the trajectory-planning framework for unstructured road is established based on vehicle passability analysis, to determine the optimal travel pattern. Then, an operational risk field is established based on road roughness and obstacle s size information. In addition, considering both operational risk and travel efficiency, an obstacle avoidance path planning method based on dynamic programming and an obstacle crossing path planning method based on improved A* are proposed. Furthermore, based on vehicle stability analysis, a speed planning method considering terrain constraints is proposed. Finally, real-world experiments are conducted, and the experimental results show that under unstructured road conditions, the trajectory planning method proposed in this paper increases the average vehicle speed by 15.8%, with the average absolute pitch angle and average absolute roll angle reduced by 68.1% and 73.6% respectively. This method can effectively coordinate the safety and efficiency of vehicle Operation, demonstrating good generalization and meeting the requirements of real-time Performance.