The invention belongs to the technical field of automatic driving vehicles, and discloses a vehicle speed control method, device and equipment of an automatic driving vehicle and a storage medium. Themethod comprises the steps of acquiring current limited vehicle speeds corresponding to vehicle data of different dimensions, wherein the vehicle data of different dimensions includes at least one ofmap positioning data, machine vision data, driver preset data, obstacle data and vehicle road data; determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition; and comparing the target limited vehicle speed with the current vehicle speed, and when the target limited vehicle speed is less than the current vehicle speed, executing preset deceleration operation. In the invention, the information is obtained through multi-sensor fusion, the automatic driving vehicle determines the target limited vehicle speed according tolimiting conditions under various working conditions, and finally good vehicle speed control is achieved so that problems that the vehicle speed control of an existing automatic driving vehicle is not reasonable, and a driving safety problem exists are solved.

    本发明属于自动驾驶汽车技术领域,公开了一种自动驾驶汽车的车速控制方法、装置、设备及存储介质。该方法通过分别获取不同维度的车辆数据所对应的当前限定车速,所述不同维度的车辆数据包括地图定位数据、机器视觉数据、驾驶员预设数据、障碍物数据以及车辆道路数据中的至少一项;根据所述当前限定车速以及预设限定车速条件确定目标限定车速;将所述目标限定车速与当前车速进行比对,在所述目标限定车速小于所述当前车速时,执行预设减速操作。本发明中通过多传感器融合获取信息,自动驾驶汽车在多种工况下根据限制条件确定目标限定车速,最终实现良好的车速控制,从而解决了现有自动驾驶汽车的车速控制不具有合理性,存在行驶安全性问题。


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    Title :

    Vehicle speed control method, device and equipment of automatic driving vehicle and storage medium


    Additional title:

    自动驾驶汽车的车速控制方法、装置、设备及存储介质


    Contributors:
    LI WEIBING (author) / LIU FAYONG (author) / SHI LI (author) / XU YILIN (author) / JIANG JIANMAN (author) / WU QIONG (author) / XU CHUNMEI (author)

    Publication date :

    2020-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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