The invention discloses an automatic parking speed planning method and device and a storage medium, and belongs to the field of automatic driving vehicle control. The method mainly comprises the following steps: detecting a to-be-processed obstacle on a vehicle parking path, and obtaining the position, contour and speed of the to-be-processed obstacle; decomposing the current speed of the vehicle to obtain a longitudinal speed component; calculating the position of an interference point and the expected speed of the vehicle at the interference point according to the path and the contour of the vehicle, the current position and the contour of the to-be-processed obstacle, the longitudinal speed component and the basic vehicle distance; calculating the expected acceleration of the vehicle according to the current position and the current speed of the vehicle, the position of the interference point, the expected speed and the planned speed; and performing speed planning on the vehicle according to the current speed of the vehicle and the expected acceleration of the vehicle. The speed can be quickly adjusted according to the real-time information of the obstacle without depending on the predicted speed, so that automatic driving is safer and more reliable.
本申请公开了一种自动泊车速度规划方法、装置及存储介质,属于自动驾驶车辆控制领域。该方法主要包括:对车辆泊车路径上的待处理障碍物进行检测,并获得待处理障碍物的位置、轮廓和速度;将车辆的当前速度进行分解得到纵向速度分量;根据车辆的路径和轮廓,待处理障碍物的当前位置和轮廓,纵向速度分量以及基础车距计算得到干涉点的位置,和车辆在干涉点的期望速度;根据车辆的当前位置和当前速度,干涉点的位置、期望速度、规划速度,计算得到车辆的期望加速度;根据车辆的当前速度以及车辆的期望加速度对车辆进行速度规划。本申请能够根据障碍物的实时信息快速的进行速度调整,不需要依赖预测的速度,使自动驾驶更加安全可靠。
Automatic parking speed planning method and device and medium
一种自动泊车速度规划方法、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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