The embodiment of the invention provides an automatic driving speed planning method and device, a vehicle and a storage medium, and the method comprises the steps: enabling a position where a target vehicle does not pass on a target path to serve as a first position, and enabling the current position of the target vehicle to serve as a second position in a process that the target vehicle carries out the automatic driving based on the target path; taking the state information of the first position as a father node, and determining at least one child node corresponding to the father node according to the father node and an acceleration set obtained by discrete sampling in advance; the child node comprises state information of a next position at a preset distance interval relative to the corresponding position of the father node; adding the at least one sub-node into the open list, and moving the sub-node with the minimum cost value in the at least one sub-node into the closed list; and determining a target speed curve for automatic driving according to the child nodes in the closed list. According to the embodiment of the invention, accurate speed planning based on discrete sampling of the acceleration is realized.

    本发明实施例提供了一种自动驾驶速度的规划方法及装置、车辆和存储介质,方法包括:在目标车辆基于目标路径进行自动驾驶的过程中,将目标路径上目标车辆未经过的一位置作为第一位置,以及将目标车辆当前的位置作为第二位置;将第一位置的状态信息作为父节点,并根据父节点和预先离散采样得到的加速度集合,确定父节点对应的至少一个子节点;子节点包括相对于父节点对应位置预设距离间隔的下一位置的状态信息;将至少一个子节点添加至开列表中,并将至少一个子节点中成本值最小的子节点移动至闭列表中;根据闭列表中的子节点,确定用于自动驾驶的目标速度曲线。通过本发明实施例,实现了基于对加速度的离散采样来进行准确的速度规划。


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    Title :

    Automatic driving speed planning method and device, vehicle and storage medium


    Additional title:

    一种自动驾驶速度的规划方法及装置、车辆和存储介质


    Contributors:
    WEN YONGBING (author) / LIU YI (author) / XU YANG (author)

    Publication date :

    2022-06-07


    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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