The invention discloses an automatic driving speed planning method and device based on adjacent lanes and a medium, and belongs to the technical field of automatic driving. The method mainly comprises the steps of calculating the maximum drivable speed of a current lane; determining whether the maximum drivable speed of the adjacent lane needs to be calculated or not; if it is determined that the maximum drivable speed of the adjacent lane needs to be calculated, the maximum drivable speed of the adjacent lane is calculated; judging whether to change lanes or not; if the judgment result is that lane changing is carried out, the driving lane is changed into an adjacent lane, a current first planning strategy is obtained according to the maximum driving speed of the adjacent lane, then speed planning is carried out, and if the judgment result is that lane changing is not carried out, driving continues to be carried out on the current lane; and a current second planning strategy is obtained according to the maximum drivable speed of the current lane, and then speed planning is carried out. According to the method, speed planning is carried out in a lane changing mode, so that the automatic driving speed planning process is more humanoid and intelligent.
本申请公开了一种基于相邻车道的自动驾驶速度规划方法、装置及介质,属于自动驾驶技术领域。主要包括,计算当前车道最大可行驶速度;确定是否需要对相邻车道最大可行驶速度进行计算;若确定需要对相邻车道最大可行驶速度进行计算,则计算相邻车道最大可行驶速度;对是否进行变道做出判决;以及若判决的结果是进行变道,则将行驶车道变更为相邻车道,并根据相邻车道最大可行驶速度得到当前第一规划策略,进而进行速度规划,若判决的结果是不进行变道,则在当前车道继续行驶,并根据当前车道最大可行驶速度得到当前第二规划策略,进而进行速度规划。本申请寻求以变道的方式进行速度规划,使得自动驾驶速度规划过程更加拟人智能化。
Automatic driving speed planning method and device based on adjacent lanes and medium
一种基于相邻车道的自动驾驶速度规划方法、装置及介质
2023-07-11
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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