The invention discloses a vehicle speed planning method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a current frame acceleration instruction according to the distance between a vehicle and an obstacle and the speed information of the vehicle; inputting the current frame acceleration instruction into a vehicle actuator model to obtain vehicle first state information after a first preset duration; and inputting the distance between the vehicle and the obstacle predicted according to the first preset time length, the first state information of the vehicle and the calculated next frame acceleration instruction into the vehicle actuator model again to obtain second state information of the vehicle after a second preset time length, and taking the second state information as a speed planning track point of the vehicle. The method can be used for vehicle speed planning of the commercial vehicle, and the obtained track accords with the real actuator response characteristics. In addition, error tracking pressure of a downstream control module can be reduced, pause is reduced, and comfort and accuracy are improved.

    本申请公开了一种车辆速度规划方法、装置及电子设备、存储介质,所述方法包括:根据自车与障碍物之间的距离、自车的速度信息,确定当前帧加速度指令;将所述当前帧加速度指令输入车辆执行器模型,得到第一预设时长后的车辆第一状态信息;将根据所述第一预设时长后预测得到自车与障碍物之间的距离、所述车辆第一状态信息,计算得到的下一帧加速度指令,再次输入所述车辆执行器模型,得到第二预设时长后的车辆第二状态信息,以作为车辆的速度规划轨迹点。通过本申请可用于商用车的车辆速度规划,且得到的轨迹是符合真实执行器响应特性的。此外本申请可减少下游控制模块的误差跟踪压力,减少顿挫,提高了舒适性和准确性。


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    Title :

    Vehicle speed planning method and device, electronic equipment and storage medium


    Additional title:

    车辆速度规划方法、装置及电子设备、存储介质


    Contributors:
    JIA CHUNHUI (author) / ZHANG DONGHAO (author) / DING FENG (author) / TIAN SHAN (author) / YAO YONGZE (author)

    Publication date :

    2023-09-08


    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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