The embodiment of the invention provides a speed planning method, a terminal device, a medium and an automatic driving device.In the speed planning method, constraint conditions and a cost function are obtained, the constraint conditions represent constraints of the automatic driving device in a spatial domain, the spatial domain is a position time coordinate system, and the cost function represents the constraint of the automatic driving device in the spatial domain; the cost function represents a control target of the automatic driving equipment in a spatial domain; based on the constraint condition, solving the cost function to obtain a spatial domain speed change function; controlling the speed according to the spatial domain speed change function; according to the method, the speed planning associated with the position is realized, so that the equipment can accurately conform to the actual speed limit, and the running of the equipment is more stable and safer.
本申请实施例提出了一种速度规划方法、终端设备、介质及自动驾驶设备,其中,上述速度规划方法中,获取约束条件和成本函数,其中,所述约束条件表示自动驾驶设备在空间域中的约束,所述空间域为位置时间坐标系,所述成本函数表示所述自动驾驶设备在空间域中的控制目标;基于所述约束条件,求解所述成本函数,得到空间域速度变化函数;依据所述空间域速度变化函数控制速度;所述方法实现了与位置关联的速度规划,使得设备能够精准符合实际的限速,使设备行驶更加平稳、安全。
Speed planning method, terminal equipment, medium and automatic driving equipment
速度规划方法、终端设备、介质及自动驾驶设备
2023-12-26
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 |
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