The invention discloses a speed planning method based on iterative optimization, computer equipment, a readable storage medium and a motor vehicle, relates to the technical field of automatic driving, and is used for performing speed planning on the speed of a vehicle during automatic driving of the vehicle. Comprising the following steps: acquiring a planned path of a vehicle and a predicted trajectory of obstacles around the vehicle to generate an obstacle boundary; generating a speed optimization function according to the obstacle boundary; iteratively solving the speed optimization function; and generating a speed curve according to iterative solution. According to the method, the operation efficiency is ensured while various constraints are considered.

    本发明公开了一种基于迭代优化的速度规划方法、计算机设备、可读存储介质及机动车,涉及自动驾驶技术领域,用于在车辆运行自动驾驶时对自车的速度进行速度规划,包括如下步骤:获取自车的规划路径以及自车周围障碍物的预测轨迹以生成障碍物边界;根据障碍物边界生成速度优化函数;对速度优化函数迭代求解;根据迭代求解生成速度曲线。本发明在兼顾各种约束限制的同时,确保运算效率。


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    Title :

    Speed planning method based on iterative optimization, computer equipment, readable storage medium and motor vehicle


    Additional title:

    一种基于迭代优化的速度规划方法、计算机设备、可读存储介质及机动车


    Contributors:
    QI ZIHENG (author)

    Publication date :

    2023-09-01


    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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