The invention relates to a speed control method for automatic driving and a storage medium. The speed control method comprises the following steps: 1) detecting that a front vehicle on an adjacent lane is a large vehicle and the speed of the front vehicle is lower than that of the vehicle; (2) the speed difference Vd between the front vehicle and the vehicle is calculated, and the speed of the vehicle is controlled according to the speed difference Vd so that the time for the vehicle to run along with the front vehicle can be larger than or equal to Tf; 3) continuously tracking the front vehicle within the time Tf, and judging whether the front vehicle has a lane changing trend or not; if yes, executing the step 4); if not, cruise driving is carried out based on the cruise speed control strategy; and 4) selecting the front vehicle as a vehicle following target, and carrying out vehicle following driving based on a vehicle following speed control strategy. Aiming at the condition that the front vehicle of the adjacent lane is a large vehicle and needs to overtake, the vehicle speed of the vehicle is actively adjusted according to the speed difference between the vehicle and the front vehicle, the oppression feeling caused by too high vehicle speed during overtaking of the vehicle is reduced, panic of a driver and passengers is avoided, and the safety and comfort of automatic driving are improved.

    本发明涉及一种用于自动驾驶的速度控制方法及存储介质,包括如下步骤:1)检测到相邻车道的前车为大型车辆且前车的车速低于本车的车速;2)计算出前车与本车的速度差Vd,根据速度差Vd控制本车的车速以使本车跟随前车行驶的时间大于等于Tf;3)在时间Tf内持续对前车进行追踪,并判断前车是否存在变道趋势;是,则执行步骤4);否,则基于巡航速度控制策略进行巡航行驶;4)选择前车为跟车目标,基于跟车速度控制策略进行跟车行驶。本发明针对相邻车道的前车为大型车辆且需要超车的情况,根据本车与前车的速度差主动调节本车的车速,减少因本车超车时车速过快而造成的压迫感,避免驾驶员和乘客恐慌,提高自动驾驶的安全性和舒适性。


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    Title :

    Speed control method for automatic driving and storage medium


    Additional title:

    一种用于自动驾驶的速度控制方法及存储介质


    Contributors:
    YANG GUO (author) / HE BO (author)

    Publication date :

    2022-05-17


    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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