The invention discloses a speed planning method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring road condition information, wherein the road condition information is used for describing a road environment on which a vehicle runs; based on the road condition information, a speed position mapping relation of the vehicle is obtained, and the speed position mapping relation is used for representing an expected speed interval when the vehicle travels to the target position; based on the speed position mapping relation and a preset optimization target, determining a speed planning model based on quadratic programming; and according to the speed planning model based on quadratic planning, completing the speed planning of the vehicle. According to the technical scheme provided by the embodiment of the invention, on one hand, the speed planning model based on quadratic planning is relatively easy to solve, so that the calculation amount during speed planning is reduced, and the calculation efficiency can be improved while the consumption of calculation resources is reduced; and on the other hand, the road condition information is fully considered when the state constraint is determined, so that the speed planning of the vehicle can adapt to the scene change and is more flexible.

    本申请公开了一种速度规划方法、装置、车辆以及存储介质。该方法包括:获取路况信息,路况信息用于描述车辆所行驶的道路环境;基于路况信息,获取车辆的速度位置映射关系,速度位置映射关系用于表征车辆行驶至目标位置处的期望速度区间;基于速度位置映射关系和预设的优化目标,确定基于二次规划的速度规划模型;根据基于二次规划的速度规划模型,完成对车辆的速度规划。本申请实施例提供的技术方案,一方面,基于二次规划的速度规划模型较容易求解,从而减小速度规划时的计算量,在减小计算资源的消耗的同时还可以提高计算效率;另一方面,由于在确定状态约束时充分考虑了路况信息,使得对车辆的速度规划可以适应场景变化,更加灵活。


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    Titel :

    Speed planning method and device, vehicle and storage medium


    Weitere Titelangaben:

    速度规划方法、装置、车辆以及存储介质


    Beteiligte:
    SU JINGREN (Autor:in) / LIU YI (Autor:in) / YIN JIAN (Autor:in) / ZHUANG RUHONG (Autor:in) / ZENG JIANI (Autor:in)

    Erscheinungsdatum :

    31.01.2023


    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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