The invention discloses an automatic driving speed planning method and device and a storage medium, and belongs to the technical field of automatic driving vehicle control. The method mainly comprises the steps that real-time detection is conducted on a to-be-processed obstacle inserted from the side of the vehicle driving direction, and the current position and the current speed of the to-be-processed obstacle are obtained; decomposing the current speed of the to-be-processed obstacle to obtain a longitudinal speed component which is the same as the vehicle driving direction; calculating the position of an interference point and the expected speed of the vehicle at the interference point according to the path of the vehicle, the current position of the to-be-processed obstacle, the longitudinal speed component and a preset basic vehicle distance; calculating the expected acceleration of the vehicle according to the current position and the current speed of the vehicle, the position of the interference point and the expected speed; and performing speed planning according to the current speed and the expected acceleration of the vehicle. The speed can be quickly adjusted according to the real-time information of the obstacle without depending on the predicted speed, so that automatic driving is safer and more reliable.

    本申请公开了一种自动驾驶速度规划方法、装置及存储介质,属于自动驾驶车辆控制技术领域。该方法主要包括:对从车辆行驶方向的侧方插入的待处理障碍物进行实时检测,得到待处理障碍物的当前位置和当前速度;将待处理障碍物的当前速度进行分解得到与车辆行驶方向相同的纵向速度分量;根据车辆的路径,待处理障碍物的当前位置,纵向速度分量以及预定的基础车距计算得到干涉点的位置,以及车辆在干涉点的期望速度;根据车辆的当前位置和当前速度,干涉点的位置和期望速度计算得到车辆的期望加速度;根据车辆的当前速度和期望加速度进行速度规划。本申请能够根据障碍物的实时信息快速的进行速度调整,不需要依赖预测的速度,使自动驾驶更加安全可靠。


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    Title :

    Automatic driving speed planning method and device and medium


    Additional title:

    一种自动驾驶速度规划方法、装置及介质


    Contributors:
    TIAN BO (author) / RAN XU (author) / LIU XIRUI (author)

    Publication date :

    2023-07-11


    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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