The invention provides a speed planning method and device based on automatic driving, equipment and a storage medium. The method comprises the following steps: acquiring obstacle information, driving information of a vehicle and preset speed limit information of an environment where the vehicle is located; the obstacle information comprises a current position and a current speed of an obstacle, the driving information comprises a current position and a current speed of the vehicle, and the preset speed limit information represents a preset maximum speed value at any position in the environment; target speed limit information is determined according to the obstacle information at the current moment, the driving information of the vehicle at the current moment and preset speed limit information; the target speed limit information represents a maximum speed value allowing the vehicle to run at any position in the environment, and the speed represented by the target speed limit information is smaller than or equal to the speed represented by the preset speed limit information at the same position; determining speed planning information of the vehicle at the next moment according to the current driving information and the target speed limiting information of the vehicle; the speed planning information is used for controlling vehicle automatic driving.

    本申请提供一种基于自动驾驶的速度规划方法、装置、设备及存储介质。该方法包括:获取障碍物信息、车辆的行驶信息、车辆所处环境的预设限速信息;障碍物信息包括障碍物的当前位置和当前速度,行驶信息包括车辆的当前位置和当前速度,预设限速信息表征预先规定的环境中任一位置处的速度最大值;根据当前时刻的障碍物信息、车辆在当前时刻的行驶信息、预设限速信息,确定目标限速信息;目标限速信息表征在环境中的任一位置处允许车辆行驶的速度最大值,目标限速信息表征的速度小于或等于同一位置下预设限速信息表征的速度;根据车辆在当前的行驶信息和目标限速信息,确定车辆在下一时刻的速度规划信息;速度规划信息用于控制车辆自动驾驶。


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    Title :

    Speed planning method, device and equipment based on automatic driving and storage medium


    Additional title:

    基于自动驾驶的速度规划方法、装置、设备及存储介质


    Contributors:
    MA CHUNSHAN (author)

    Publication date :

    2023-12-05


    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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