The invention relates to a curve speed limiting method, device and equipment for an automatic driving vehicle and a storage medium, and the method comprises the steps: obtaining the longitudinal cumulative distance and scatter point curvature radius of each path point of a reference path, obtaining the curvature radius of each path point, and obtaining the curve speed of each path point; a target speed limit value is obtained through a comfort turning speed calibration table of the current curve speed limit scene; calculating a predicted position of the vehicle in a preset time length based on a preset kinematic model, solving the target speed limit value to obtain a speed sequence, and judging a current intention of the automatic driving vehicle; and according to the current intention, the corresponding bend-in preview time or bend-out preview time is matched, a bend-in deceleration action or a bend-out acceleration action is determined, linear transition is carried out on the speed sequence through a quadratic programming algorithm to generate a bend speed limiting control strategy of the automatic driving vehicle, and therefore the curve speed limiting control method and device can be suitable for different scenes, and the speed limiting speed of the automatic driving vehicle is improved. The reasonability of curve speed limit planning is improved, and the driving experience of a user is greatly improved while the safety of the vehicle is guaranteed.

    本申请涉及一种自动驾驶车辆的弯道限速方法、装置、设备及存储介质,其中,方法包括:获取参考路径的每个路径点的纵向累积距离和散点曲率半径,得到每个路径点的曲率半径,并通过当前弯道限速场景的舒适性过弯速度标定表得到目标限速值;基于预设的运动学模型计算车辆在预设时长的预测位置,求解目标限速值得到速度序列,并判断自动驾驶车辆的当前意图;根据当前意图匹配对应的进弯预瞄时间或者出弯预瞄时间,确定进弯减速动作或者出弯加速动作,并通过二次规划算法对速度序列进行线性过渡,以生成自动驾驶车辆的弯道限速控制策略,由此,本申请可适用于不同场景,提高了弯道限速规划的合理性,在保障车辆安全性的同时,极大改善用户的驾乘体验。


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    Titel :

    Curve speed limiting method, device and equipment for automatic driving vehicle and storage medium


    Weitere Titelangaben:

    自动驾驶车辆的弯道限速方法、装置、设备及存储介质


    Beteiligte:
    LI WANHONG (Autor:in) / XIAO KAIXING (Autor:in) / SUN ZHENGHAI (Autor:in) / QIU LIHONG (Autor:in) / HE YONG (Autor:in)

    Erscheinungsdatum :

    2023-01-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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