The invention discloses a speed planning method, device and equipment for an automatic driving vehicle and the vehicle, and belongs to the technical field of computers. The method comprises the following steps: acquiring driving information of a vehicle and driving information of an obstacle in a driving area of the vehicle; based on the driving information of the own vehicle, determining the driving lane condition of the own vehicle; based on the driving lane condition of the vehicle, the driving information of the vehicle and the driving information of the obstacle, obtaining a risk obstacle under the driving lane condition; determining an interaction scene of the vehicle and the risk obstacle based on the driving information of the risk obstacle and the driving information of the vehicle; and on the basis of the interaction scene, the driving information of the risk obstacle and the driving information of the vehicle, utilizing a preset speed trajectory planning strategy to obtain a speed trajectory corresponding to the interaction scene. According to the invention, the reliability and efficiency of vehicle speed planning are optimized.
本申请公开了一种自动驾驶车辆的速度规划方法、装置、设备及车辆,属于涉及计算机技术领域。所述方法包括:获取自车的行驶信息、以及所述自车的行驶区域中的障碍物的行驶信息;基于所述自车的行驶信息,确定所述自车的行驶车道情况;基于所述自车的行驶车道情况、所述自车的行驶信息和所述障碍物的行驶信息,获得所述行驶车道情况下的风险障碍物;基于所述风险障碍物的行驶信息和所述自车的行驶信息,确定所述自车和风险障碍物的交互场景;基于所述交互场景、所述风险障碍物的行驶信息和所述自车的行驶信息,利用预设的速度轨迹规划策略,获得所述交互场景对应的速度轨迹。本申请优化了车辆速度规划的可靠性和效率。
Speed planning method, device and equipment for autonomous vehicle and vehicle
自动驾驶车辆的速度规划方法、装置、设备及车辆
2024-03-08
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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