VELOCITY DECISION METHOD FOR UNMANNED GROUND VEHICLE

摘要

PURPOSE: A speed determination method of an unmanned autonomous vehicle is provided to secure driving stability of the unmanned autonomous vehicle by determining finial driving speed using maximum speed. CONSTITUTION: The limitation speed and driving speed of a vehicle are estimated using world model information on a local path. The driving speed is set as initial speed. A dynamics analysis process is performed by inputting a driving trace from the initial speed and the local path. Maximum speed is calculated from a road surface classification value using predetermined data for each standard road surface. Shooting speed is determined from the maximum speed using a stability determination result. Second maximum speed is calculated by setting the shooting speed as the initial speed. Final driving speed is calculated by applying a linear factor method with respect to a final stability determination result, the second maximum speed, the shooting speed, and the maximum speed.