3-D path planning system for autonomous vehicle considering the rollover and path length

Abstract

In the 3-D path planning, the undulation of terrain have a significant impact on the roll angle of autonomous vehicle (AV). However, the existing 3-D path planning methods rarely consider the roll angle, which may lead to the rollover of AV. To solve this problem, a 3-D path planning system considering the rollover and path length (3DPPS-CRPL) is presented in this work. The 3DPPS-CRPL can plan a shorter path on the basis of inhibiting the roll angle of AV. In order to inhibit the roll angle, a novel roll angle evaluation model based on the undulation of terrain is developed, and the amount of computation is also greatly reduced because complex dynamics is avoided. In order to optimize the path length, both 2-D and 3-D path length are evaluated synthetically by a path length evaluation model. In order to optimize the parameters of 3DPPS-CRPL, a fuzzy-based optimizer is proposed to determine the weight of roll angle and path length. The simulation results prove that 3DPPS-CRPL has excellent performance for inhibiting roll angle and optimizing the path length in 3-D environment.