Speed Control Method for Unmanned Special Vehicle Based on Terrain Feature Time-frequency Transform

doi:10.12382/bgxb.2023.0823

Abstract

Abstract:

To ensure the safety, autonomy, and mobility of unmanned special vehicles in complex environments, a speed-adaptive control method based on terrain feature time-frequency transform is proposed for navigating the unmanned special vehicles on rugged terrains. The autonomy and adaptive speed planning of unmanned special vehicles on rugged terrains is achieved by measuring the ruggedness of terrain and establishing a continuous mathematical model of terrain ruggedness and vehicle speed. The point cloud data is corrected through the fusion of inertial measurement unit (IMU) sensor data. This correction ensures the precision of the point cloud data in front of the vehicle, addressing the issues arising from rocky terrain and slopes. Subsequently, a line-to-surface approach is employed to quantify the ruggedness across various terrains, which is diferent from the traditional transverse curvature calculation. The ruggedness value is determined by choosing the integrated area of the sub-frequency region in the frequency domain after the time-frequency transformation of LIDAR longitudinal profile point cloud data. Moreover, a mathematical model for speed and terrain ruggedness is established through an iterative search based on the quantified ruggedness values. The ruggedness value is continuously updated using a sliding window, facilitating the seamless mapping between vehicle speed and terrain ruggedness. The proposed method is then validated utilizing a seismic vibrator vehicle as the research subject through a series of experiments conducted in actual field terrain environments. The experimental results affirm the effectiveness of the proposed method in terrain identification and adaptive vehicle speed control.

Key words: terrain identification, longitudinal profile, frequency domain method, roughness quantification, speed adaptive control

CLC Number:

TJ301

WANG Liang, WANG Shoukun, NIU Tianwei, WANG Junzheng. Speed Control Method for Unmanned Special Vehicle Based on Terrain Feature Time-frequency Transform[J]. Acta Armamentarii, 2024, 45(10): 3718-3731.

Figures/Tables 25

Fig.1 Speed adaptive control based on terrain features in frequency domain

Fig.2 Equidistant division of laser beams

Fig.3 Unit grid division of segments

Fig.4 Vehicle speed a adaptive djustment strategy

Fig.5 z value map of simulated composite terrain longitudinal section point cloud

Fig.6 Amplitude-frequency characteristic curves corresponding to different sampling frequencies

Fig.7 Power spectral density curves corresponding to different sampling frequencies

Fig.8 Different sampling frequencies corresponding to the change curves of roughness

Fig.9 Vehicle-mounted laser terrain scanning experimental platform

Fig.10 Hardware connection and communication method

Table 1 Experimental platform parameters

参数	数值
震源车长度/m	10.0
震源车宽度/m	3.38
震源车高度/m	3.6
震源车前后轴距/m	4
激光雷达距地高度/m	1.4
激光雷达扫描频率/Hz	20
激光雷达水平扫描范围/(°)	360
激光雷达垂直扫描范围/(°)	-55~15
激光雷达有效测量距离/m	150
GPS频率/Hz	20
GPS定位精度/m	0.01
IMU频率/Hz	50
IMU精度/(°)	0.05

Fig.11 Composite terrain real scene collected by the laboratory

Fig.12 Scanned rugged terrain and its point cloud image

Fig.13 z-value curves of the longitudinal section point clouds of three terrains

Fig.14 Amplitude-frequency characteristic curve of z value of terrain longitudinal profile point cloud

Fig.15 z-value power spectral density curve of terrain longitudinal profile point cloud

Fig.16 Change curve of terrain roughness

Table 2 Ruggedness for 3 types of terrain

地形	S
平坦地形	S<0.09
较平坦地形	0.09≤S≤0.17
崎岖地形	S>0.17

Fig.17 z-value curve of longitudinal profile point cloud of field flat dirt road

Fig.18 Variation curve of field flat dirt road roughness

Fig.19 Adaptive change curve of field flat dirt road roughness with vehicle speed

Fig.20 Adaptive variation curve of front vehicle body speed with distance

Fig.21 Adaptive variation curve of rear vehicle speed with distance

Fig.22 Speed adaptive change curve of each part of vehicle body

Fig.23 Adaptive change curve of target speed with distance

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