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Unstructured road often has uneven surface and varying obstacle sizes. Neglecting the uneven terrain and handling obstacles improperly can lead to an imbalance between vehicle safety and travel efficiency. To cope with this challenge, in this paper a trajectory planning method that considers complex terrain and obstacle scales (TOTP) for unstructured road is proposed. Firstly, the trajectoryplanning framework for unstructured road is established based on vehicle passability analysis, to determine the optimal travel pattern. Then, an operational risk field is established based on road roughness and obstacle's size information. In addition, considering both operational risk and travel efficiency, an obstacle avoidance path planning method based on dynamic programming and an obstacle crossing path planning method based on improved A* are proposed. Furthermore, based on vehicle stability analysis, a speed planning method considering terrain constraints is proposed. Finally, realworld experiments are conducted, and the experimental results show that under unstructured road conditions, the trajectory planning method proposed in this paper increases the average vehicle speed by 15.8%, with the average absolute pitch angle and average absolute roll angle reduced by 68.1% and 73.6% respectively. This method can effectively coordinate the safety and efficiency of vehicle operation, demonstrating good generalization and meeting the requirements of realtime performance.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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