Three-dimensional terrain trafficability analytical method for autonomous land vehicle
A technology of three-dimensional terrain and analysis methods, applied in image analysis, image data processing, special data processing applications, etc., can solve the problems of low analysis efficiency, redundant calculation, inability to meet real-time requirements, etc., to reduce analysis complexity, reduce Analyze the effect of steps
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[0055] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0056] like Figure 1 to Figure 4 As shown, the autonomous vehicle three-dimensional terrain traversability analysis method of the present invention comprises the following steps:
[0057] The first step is the information perception step. Provide environmental information and current vehicle movement status information through on-board sensors. Among them, the environmental information is mainly the terrain elevation data set D={(x i ,y i ,z i ) T |x i ,y i ,z i ∈R,i=1,...,n}, the vehicle motion state information is conf=(x v ,y v ,yaw), (x v ,y v ) is the horizontal plane position of the vehicle at the current moment, yaw is the heading angle, and according to the terrain elevation data obtained by information perception, the contour line of the current terrain is quickly drawn.
[0058] The second step is trajectory se...
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