The invention provides a vehicle speed planning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a state space of a target vehicle, the state space having an initial state and a motion state of the target vehicle; the first acceleration of the target vehicle is obtained according to the initial state and the motion state, a first acceleration curve is constructed with the first acceleration as the initial acceleration of the target vehicle, and the first acceleration curve is a curve, changing along with time, of the target vehicle between the adjacent state spaces. And performing cost evaluation on the first acceleration curve to obtain a second acceleration which is the optimal acceleration of the target vehicle in the corresponding state space. And generating a longitudinal trajectory beam of the target vehicle according to the second acceleration and the first acceleration, wherein the longitudinal trajectory beam is used for acquiring an optimal speed planning trajectory of the target vehicle between the adjacent state spaces. According to the method, the vehicle speed planning trajectory is richer, and the stability of controlling the controlled object with the high delay attribute is enhanced.
本发明提供一种车辆速度规划方法、装置、电子设备及存储介质,包括:获取目标车辆的状态空间,状态空间中具有目标车辆的初始状态和运动状态。根据初始状态和运动状态获取目标车辆的第一加速度,并以第一加速度为目标车辆的初始加速度构建第一加速度曲线,第一加速度曲线为目标车辆在相邻状态空间之间随时间变化的曲线。对第一加速度曲线进行代价评估,以获取第二加速度,第二加速度为目标车辆在相应状态空间中的最优加速度。根据第二加速度与第一加速度生成目标车辆的纵向轨迹束,纵向轨迹束用于获取目标车辆在相邻状态空间之间的最优速度规划轨迹。该方法使得车辆速度规划轨迹更加丰富,增强了控制具有高延迟属性的被控对象的稳定性。
Vehicle speed planning method and device, electronic equipment and storage medium
车辆速度规划方法、装置、电子设备及存储介质
2023-06-27
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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