The invention relates to a vehicle speed planning method and device, a vehicle and a storage medium. The method comprises the steps that the reference speed and the reference distance of a vehicle are obtained, and the distance between the vehicle and a first vehicle following point and the distance between the vehicle and a second vehicle following point are determined according to the reference distance; and the target acceleration of the vehicle is determined according to the current driving speed of the vehicle, the reference speed, the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point so as to instruct the vehicle to control the driving speed of the vehicle according to the target acceleration, thereby sequentially realizing automatic planning of the driving speed of the vehicle. By adopting the method, a target equation does not need to be solved through construction and traversal, the calculation amount and complexity of the whole method are reduced, the hardware resource consumption for realizing the speed planning method is correspondingly reduced, and the planning efficiency is further improved.
本申请涉及一种车速规划方法、装置、车辆和存储介质。所述方法包括:通过获取车辆的参考速度和参考距离,并根据参考距离确定车辆与第一跟车点之间的距离以及车辆与第二跟车点之间的距离,进而根据车辆的当前行驶速度、参考速度、车辆与第一跟车点之间的距离以及车辆与第二跟车点之间的距离确定车辆的目标加速度,以指示车辆根据目标加速度控制车辆的行驶速度,依次实现对车辆行驶速度的自动规划。采用本方法无需构建和遍历求解目标方程,降低了整个方法的计算量和复杂度,相应降低了实现上述速度规划方法的硬件资源消耗,进而提高了规划效率。
Vehicle speed planning method and device, vehicle and storage medium
车速规划方法、装置、车辆和存储介质
2021-08-13
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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