The invention relates to the technical field of automatic driving systems, in particular to an acceleration planning method and device, electronic equipment, a medium and an automobile, and the method comprises the steps: detecting the collision time of a vehicle located on a lane and a front vehicle located on an adjacent lane in the longitudinal direction; detecting the transverse cut-in probability that a front vehicle transversely cuts into the lane from the adjacent lane; judging whether the collision time is less than or equal to a time threshold and whether the transverse cut-in probability is greater than a probability threshold; if the collision time is smaller than or equal to the time threshold value and the transverse cut-in probability is larger than the probability threshold value, whether the current acceleration of the vehicle is a positive value or not is judged; if the current acceleration is the positive value, jumping the current acceleration from the positive value to 0; and according to a first slope, the acceleration of the vehicle is reduced from 0 to a first preset acceleration, and the first slope is obtained through calculation of the acceleration before jumping. According to the invention, the vehicle can smoothly decelerate.
本发明涉及自动驾驶系统技术领域,具体涉及一种加速度规划方法、装置、电子设备、介质及汽车,方法包括:检测位于本车道的本车与位于相邻车道的前方车在纵向上的碰撞时间;检测前方车从相邻车道横向切入本车道的横向切入概率;判断碰撞时间是否小于等于时间阈值,且横向切入概率是否大于概率阈值;若所述碰撞时间小于等于时间阈值,且横向切入概率大于概率阈值,判断本车的当前加速度是否为正值;如果当前加速度是为正值,将当前加速度由正值跳变至0;根据第一斜率将本车的加速度从0减小至第一预设加速度,其中,第一斜率由跳变前的加速度运算得到。本发明使车辆能平顺的减速。
Acceleration planning method and device, electronic equipment, medium and automobile
加速度规划方法、装置、电子设备、介质及汽车
2023-11-24
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 |
Acceleration method and device of electric automobile and electronic equipment
European Patent Office | 2023
|Signal lamp intersection interconnected automobile acceleration trajectory planning method
European Patent Office | 2024
|Path planning method, device and equipment, storage medium and automobile
European Patent Office | 2024
|Automobile braking speed planning method and electronic equipment
European Patent Office | 2023
|Automobile cooling method, automobile cooling device, electronic equipment and storage medium
European Patent Office | 2022
|