坡道行驶车辆通过性分析与路径优化

Profile Trafficability Analysis of Automobiles on Slope and Route Planning

以测距传感器采集的坡道信息为基础设计了一种坡度识别算法,建立了坡道最优通过路径规划模型。首先推导测距传感器采集量与坡度的函数关系,进而通过最小二乘法拟合得到坡度;然后获取车辆几何失效系数,确定汽车失效的临界条件;最后将采集的坡道信息转化为障碍空间进而建立避障模型,利用A~*算法规划最佳路径。试验结果表明:试验规划路径与理论最优路径的误差在1°内的置信概率为96.7%,该系统能够快速准确地实现预定功能。

A gradient identification algorithm was designed based on the slope information collected by the distance measuring sensor and an optimal path planning model was established.First of all,the relationship between the collected data of the distance measuring sensor and the slope was derived,and then the gradient was obtained by the least square method.Then the vehicle geometry failure coefficient was obtained to determine the critical condition of vehicle failure.Finally,the acquired slope information is transformed into an obstacle space and the obstacle avoidance model is established.A*algorithm is used to plan the optimal path.Experimental results show that the confidence probability of which the error of experimental planning path and theoretical optimal path within 1°is 96.7%and this system can achieve the intended function quickly and accurately.