Road-Feature-Based Multiparameter Road Complexity Calculation Model of Off-Road Environment

摘要

To promote the development of unmanned ground vehicle technologies, it is necessary to design a scientific and reasonable test method. Road is an important part of test environmental elements, and different road conditions can examine the adaptability of unmanned ground vehicles to the environment. Therefore, the scientific calculation of road complexity is of great importance. Previous studies on road are mainly based on the concept of road roughness; however due to the unicity of road feature indicators, road complexity can only be reflected to a certain extent. This paper proposes a new road-feature-based multiparameter road complexity calculation model of off-road environment to show the complexity of road more comprehensively. First, a multi-sensor-based data acquisition mobile platform is established to obtain more complete road data. Then, based on the analysis of road feature, road indicators like three-dimensional scale, average slope, and adhesion characteristics of travelable area are obtained. According to the analysis methods of road roughness, the principle of analytic hierarchy process, and the data collected from off-road environment, the calculation model of road complexity is determined. Finally, by calculating complexities of several cross-country roads, the feasibility of this model is verified, which provides a theoretical support for the scientific calculation and quantitative analysis of different road complexities.