The terrain is classified by the parameters-gradient, curuature, bump frequency and the ratio of the surface area to the corresponding planar area- that indicate the quantitative measurement of the terrain roughness, and the terrain is fitted to the polynomial function. According to the terrain roughness, the flat terrain, the gently undulating terrain, the rough terrain are classified The flat terrain, the gently undulating terrain and the rough terrain are fitted to the plane function, the 3th or 5th polynomial function and the 5th polynomial function, respectively.