A Speed Planning Method Based on Time Domain of Unmanned Ground Vehicle

Speed planning ensures safety and ride comfort, and gives a reasonable driving speed for unmanned ground vehicles. Most velocity planning methods based on arc-length of a given local path are inconvenient when considering comfort constraints such as jerk and safe constraints such as lateral acceleration. In this paper, an innovative method is proposed to establish a speed curve model of multiple segment quadratic curves with respect to time domain, and the adjustment method which is dividing quadratic curves units and preinstalling jerk of local velocity curves under the constraint of different velocity correlation variables is described. In practice, the velocity profile satisfying the constraint is obtained through three steps. The first is multiple iterations which are necessary to change the speed profile. The second is jerk boundary adjustment including safety and comfort. The third step is assigning the velocity value to each point of the local path. Furthermore, Simulation result of unmanned vehicle road entrance ramp merging scenario shows the effectiveness of the proposed method through presetting driving conditions and constraints.