Abstract
For an autonomous vehicle that travels off roads, its driving speed should be adjusted by considering road roughness and slope. To maintain stability, the driving system should compromise road conditions such as obstacles. Thus, the road roughness and obstacle are the most important disturbance factors for autonomous maneuvering. This paper presents an algorithm to determine the vehicle maneuvering speed running over off roads. To determine the maneuvering speed maintaining stability, the speed detecting algorithm must be predicted in real time through vehicle dynamic analysis. To achieve this goal, the equation of motion of the vehicle is derived in terms of the chassis local coordinates and the velocity transformation technique is combined with symbolic computation to achieve real time analysis. And the operating stable velocity is determined from the database, where the maximum speed is stored depending on road conditions.
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