The invention discloses a speed planning method and device, and the method comprises the steps: obtaining a preset obstacle ST risk field and a speed decision result, and the obstacle ST risk field is constructed in advance according to the multi-frame prediction information of an obstacle; determining a constraint boundary of a selected speed planning model according to the obstacle ST risk field and a speed decision result; determining a target optimization function of the selected speed planning model based on the cost function; and solving the speed planning model according to the determined constraint boundary and the target optimization function to obtain a speed planning S-T curve. According to the scheme, the consistency of changes of the front frame and the rear frame can be ensured, the bad sudden change of speed planning results of the front frame and the rear frame and the influence of input jitter on the speed planning results caused by low precision of the real-time prediction track are avoided, and the influence of prediction result fluctuation on the vehicle running speed is effectively reduced; and the fault-tolerant capability of the system and the comfort of automatic driving are improved.

    本发明公开一种速度规划方法及装置,方法包括获取预置的障碍物ST风险场和速度决策结果,其中所述障碍物ST风险场为预先根据障碍物的多帧预测信息构建得到;根据所述障碍物ST风险场和速度决策结果确定选取的速度规划模型的约束边界;基于成本函数确定选取的速度规划模型的目标优化函数;根据确定的约束边界和目标优化函数对所述速度规划模型求解,得到速度规划S‑T曲线。本发明的方案能够保证前后帧变化的一致性,避免了因实时预测轨迹精准度不高产生的前后帧速度规划结果突变的不良和输入抖动对速度规划结果的影响,并且有效降低了预测结果波动对车辆行驶速度的影响,提高了系统的容错能力和自动驾驶的舒适性。


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    Title :

    Speed planning method and device, control equipment, vehicle and storage medium


    Additional title:

    速度规划方法及装置、控制设备、车辆、存储介质


    Contributors:
    PAN QINGGUI (author) / XU CHENG (author) / ZHANG FANG (author) / WANG XIAO (author) / HUO SHUHAO (author) / LI XIAOFEI (author) / ZHANG DEZHAO (author)

    Publication date :

    2023-05-23


    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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