The invention discloses an unmanned tracking driving speed planning method. The method comprises the following steps: calculating the curvature radius of each track point on a target track; the minimum turning radius and the vehicle speed range of the vehicle are obtained; the minimum turning radius of the vehicle corresponds to the idling speed of the vehicle, the preset maximum turning radius corresponds to the maximum speed of the vehicle, and the corresponding relation between the turning radius and the vehicle speed is established; the curvature radius of each track point corresponds to the corresponding relation between the turning radius and the vehicle speed, and the reference vehicle speed of each track point is obtained; the speed of the unmanned vehicle can be limited, the running speed of the unmanned vehicle can be preliminarily planned simply and reasonably, the vehicle can be decelerated under the conditions of turning and turning, and the possibility that the speed of the unmanned vehicle at a curve is too high to turn over is reduced.
本发明公开了一种无人循迹驾驶速度规划的方法,计算目标轨迹上各个轨迹点的曲率半径;获取车辆的最小转弯半径以及车速范围;以车辆最小转弯半径与车辆怠速对应,以预设的最大转弯半径与车辆最高速度对应,建立转弯半径与车速的对应关系;将各个所述轨迹点的曲率半径对应至转弯半径与车速的对应关系,得到各个所述轨迹点的参照车速;能够对车速进行限制,简单且较合理地对无人车的行驶速度进行初步规划,能够使车辆在入弯、转弯的情况下进行减速处理,减少无人车弯道速度过快导致翻车的可能性。
Unmanned tracking driving speed planning method and terminal
一种无人循迹驾驶速度规划的方法与终端
2022-12-02
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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