The invention is suitable for the technical field of automobile driving, and provides a vehicle speed planning method and device, electronic equipment and a medium, and the method comprises the steps: determining an intersection region according to a predicted driving track of a target vehicle and a predicted driving track of a barrier vehicle, and obtaining a barrier region; establishing a two-dimensional diagram of the track and time according to a preset driving track of the target vehicle, and mapping the obstacle region to the two-dimensional diagram of the track and time to obtain a target two-dimensional diagram of the track and time; sampling in the target two-dimensional diagram in a discretization mode to obtain a plurality of sampling points, and connecting the sampling points at different times to obtain a to-be-matched speed planning scheme; matching a to-be-matched speed planning scheme according to the obstacle area and a preset constraint condition, and determining a matched speed planning scheme; generating a target speed planning scheme according to a preset speed planning rule and the matched speed planning scheme; the problem that the speed planning is unreasonable in the vehicle driving process is solved.

    本发明适用于汽车驾驶技术领域,提供了一种车辆速度规划方法、装置、电子设备及介质,其中,方法包括:根据目标车辆的预测行驶轨迹和障碍车辆的预测行驶轨迹,确定相交区域,得到障碍区域;根据目标车辆的预设行驶轨迹建立轨迹与时间的二维图,并将障碍区域映射到轨迹与时间的二维图,得到轨迹与时间的目标二维图;采用离散化的方式在目标二维图中采样,得到若干个采样点,连接不同时间下的采样点,得到待匹配速度规划方案;根据障碍区域和预设约束条件对待匹配速度规划方案进行匹配,确定匹配速度规划方案;根据预设速度规划规则和匹配速度规划方案,生成目标速度规划方案;解决了车辆行驶过程中速度规划不合理等问题。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle speed planning method and device, electronic equipment and medium


    Additional title:

    一种车辆速度规划方法、装置、电子设备及介质


    Contributors:
    LI WANHONG (author) / SUN ZHENGHAI (author) / XIAO KAIXING (author) / ZHOU ZENGBI (author) / QIU LIHONG (author)

    Publication date :

    2022-09-13


    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



    Vehicle speed planning method and device, electronic equipment and storage medium

    JIA CHUNHUI / ZHANG DONGHAO / DING FENG et al. | European Patent Office | 2023

    Free access

    Vehicle speed planning method and device, electronic equipment and storage medium

    MENG XIANGZHE / LIU BIN / WU HANGZHE et al. | European Patent Office | 2023

    Free access

    Vehicle speed planning method and device, electronic equipment and storage medium

    LI WANHONG / LAN XIAOLONG / WEN YUFANG et al. | European Patent Office | 2025

    Free access

    Vehicle speed planning method and device, electronic equipment and storage medium

    ZHANG JUNHAN | European Patent Office | 2023

    Free access

    Automatic driving vehicle speed planning method and device, electronic equipment and medium

    WANG YUANZHE / TIAN WEIWEI / ZHAO LE et al. | European Patent Office | 2023

    Free access