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本文讨论了自主式地面车辆的全局速度控制问题，提出了速度控制的层次控制方法和速度规划的概念，利用基于规则的知识表示方法和经验过程采样序列的结合，方便的描述和使用速度控制的常识性知识和经验性过程知识
In this paper, the global speed control of autonomous ground vehicles is discussed, and the concept of level control and speed planning of speed control is proposed. The combination of rule-based knowledge representation and empirical process sampling sequence is convenient for describing and using speed control Common sense knowledge and empirical process knowledge