Relative Roughness Measurement Based Real-Time Speed Planning for Autonomous Vehicles on Rugged Road
Liang Wang,Tianwei Niu,Shoukun Wang,Shuai Wang,Junzheng Wang,Liang Wang,Tianwei Niu,Shoukun Wang,Shuai Wang,Junzheng Wang
In order to guarantee autonomous vehicles' autonomy, mobility, and ride quality in rugged environments, a real-time speed planning method based on the time-frequency transformation of terrain characteristics is designed to achieve adaptive speed planning of autonomous vehicles in rough ground. On the one hand, the vertical profile of the lidar's point cloud data is converted from the time domain t...
