The invention discloses a method and device for controlling the running speed of an automatic driving vehicle, and relates to the technical field of automatic driving. A specific embodiment of the method comprises the following steps: in response to a detected obstacle vehicle, acquiring a main vehicle center coordinate of the autonomous vehicle, an azimuth angle of the obstacle vehicle, a turning radius and a front outer steering wheel coordinate; calculating circle center coordinates of a cut-in area of the obstacle vehicle, wherein the cut-in area is an area taking a steering circle formed when the obstacle vehicle moves according to the maximum turning angle as a cut-in boundary; judging whether the automatic driving vehicle is located in a cut-in area of the obstacle vehicle or not; under the condition that the automatic driving vehicle is located in the cut-in area of the obstacle vehicle, the minimum distance between the automatic driving vehicle and the cut-in area of the obstacle vehicle is calculated, and a deceleration strategy is determined according to the minimum distance; and controlling the driving speed of the autonomous vehicle according to the deceleration strategy. According to the implementation mode, safer automatic driving is achieved, and the rear-end collision problem caused by unreasonable braking or sudden braking is avoided.

    本发明公开了一种自动驾驶车辆行驶速度的控制方法和装置,涉及自动驾驶技术领域。该方法的一具体实施方式包括:响应于检测到障碍车,获取自动驾驶车辆的主车中心坐标、障碍车的方位角、转弯半径和前外转向轮坐标;计算障碍车的切入区域的圆心坐标,切入区域是以障碍车按照最大转角运动时所形成的转向圆为切入边界的区域;判断自动驾驶车辆是否位于障碍车的切入区域内;在自动驾驶车辆位于障碍车的切入区域内的情况下,计算自动驾驶车辆与障碍车的切入区域的最小距离,并根据最小距离确定减速策略;根据减速策略对自动驾驶车辆的行驶速度进行控制。该实施方式实现了更安全的自动驾驶,避免不合理刹车或者急刹导致的追尾问题。


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    Titel :

    Method and device for controlling running speed of autonomous vehicle


    Weitere Titelangaben:

    自动驾驶车辆行驶速度的控制方法和装置


    Beteiligte:
    ZHAO HONGBO (Autor:in) / ZHANG LIANGLIANG (Autor:in)

    Erscheinungsdatum :

    2024-03-19


    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