The invention relates to the technical field of automatic driving, in particular to a vehicle speed planning method and device, a vehicle and a storage medium. The speed planning method of the vehicle comprises the following steps: acquiring a reference path of the vehicle, and sampling from the reference path to obtain a plurality of path points; in the reference path, a deceleration area of the vehicle is determined, and the deceleration area comprises an area where the vehicle is decelerated before passing through a target intersection; determining a speed limit value of the vehicle at each path point in the deceleration area; and inputting the speed limit value of each path point as a constraint condition into a speed planning module, and outputting a speed planning result of the vehicle through the speed planning module.

    本公开涉及自动驾驶技术领域,具体涉及车辆的速度规划方法、装置、车辆和存储介质。所述车辆的速度规划方法,包括:获取所述车辆的参考路径,并从所述参考路径中采样得到多个路径点;在所述参考路径中,确定所述车辆的减速区域,所述减速区域包括所述车辆通过目标路口前减速行驶的区域;确定所述车辆在所述减速区域中各个路径点的限速值;将所述各个路径点的限速值作为约束条件输入至速度规划模块中,经所述速度规划模块输出所述车辆的速度规划结果。


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    Title :

    Vehicle speed planning method and device, vehicle and storage medium


    Additional title:

    车辆的速度规划方法、装置、车辆和存储介质


    Contributors:
    JI MENG (author) / QI JUN (author)

    Publication date :

    2023-07-25


    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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