The invention relates to an automatic driving vehicle speed planning method and device, electronic equipment and a medium. The method comprises the following steps: determining a drivable area of a vehicle to be subjected to speed planning in a space-time relational graph, wherein the space-time relational graph is associated with a planned driving track of the vehicle; determining a plurality of nodes in the space-time relation graph, wherein each node in the plurality of nodes indicates a corresponding space position of the vehicle at a specific moment in the planned driving track; determining a node in the drivable area at the next moment based on a node corresponding to the vehicle at the current moment, so as to obtain a space-time curve corresponding to the planned driving track in the space-time relation graph; and obtaining target planning speeds of the vehicle at different moments based on the space-time curve. In this way, automatic driving speed planning can be efficiently achieved with low calculation amount, hardware cost is reduced, and driving safety and driving experience are guaranteed.
本公开涉及自动驾驶车辆速度规划方法、装置、电子设备和介质。该方法包括:在空间时间关系图中确定待进行速度规划车辆的可行驶区域,所述空间时间关系图与所述车辆的规划行驶轨迹相关联;在所述空间时间关系图中确定多个节点,多个所述节点中的每个节点指示所述规划行驶轨迹中所述车辆在特定时刻的相应空间位置;基于当前时刻对应于所述车辆的节点确定下一时刻处于所述可行驶区域内的节点,以在所述空间时间关系图中得到与所述规划行驶轨迹相对应的空间时间曲线;以及基于所述空间时间曲线,获取所述车辆在不同时刻的目标规划速度。以此方式,能够以低计算量高效地实现自动驾驶速度规划,降低硬件成本,保证驾驶安全和驾乘体验。
Automatic driving vehicle speed planning method and device, electronic equipment and medium
自动驾驶车辆速度规划方法、装置、电子设备和介质
2023-06-13
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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