The invention discloses a speed planning method and device for an automatic driving vehicle, and relates to the technical field of automatic driving. A specific embodiment of the method comprises the following steps: carrying out speed space sampling on a vehicle according to preset sampling parameters to obtain a plurality of sampling samples; generating a plurality of sampling tracks according to the plurality of sampling samples and a preset polynomial equation; acquiring obstacle information; according to the obstacle information, performing collision pruning on the plurality of sampling tracks to obtain a plurality of available sampling tracks; marking a decision result of the obstacle according to the plurality of available sampling tracks and the obstacle information; dividing the plurality of available sampling tracks into a plurality of decision spaces according to the decision result; and screening a target sampling trajectory from the plurality of available sampling trajectories according to the decision space to which the available sampling trajectories belong. According to the embodiment, decision-making self-consistency of the decision-making result can be realized, and the riding comfort during vehicle interaction is improved.
本发明公开了一种自动驾驶车辆的速度规划方法及装置,涉及自动驾驶技术领域。该方法的一具体实施方式包括:根据预设的采样参数对车辆进行速度空间采样,获得多个采样样本;根据所述多个采样样本和预设的多项式方程生成多条采样轨迹;获取障碍物信息;根据所述障碍物信息,对所述多条采样轨迹进行碰撞剪枝,获得若干条可用采样轨迹;根据所述若干条可用采样轨迹和所述障碍物信息,标记所述障碍物的决策结果;根据所述决策结果,将所述若干条可用采样轨迹划分至若干个决策空间;根据所述可用采样轨迹所属的决策空间,从所述若干条可用采样轨迹中筛选出目标采样轨迹。该实施方式能够实现决策结果的决策自洽,并提高车辆交互时的乘车舒适度。
Speed planning method and device for autonomous vehicle
一种自动驾驶车辆的速度规划方法及装置
2022-11-08
Patent
Electronic Resource
Chinese
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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