The embodiment of the invention provides a speed limiting method and device for an unmanned vehicle and the unmanned vehicle. The speed limiting method comprises the steps that obstacle information, recognized by a sensing module, around the unmanned vehicle is acquired; based on the obstacle information, the minimum distance from the obstacle to the edge of a driving track of the unmanned vehicle is determined, and the edge of the driving track comprises a frame of a bounding box of the unmanned vehicle when the unmanned vehicle drives on each track point of the driving track; determining a speed limit value of the unmanned vehicle at the current track point based on a preset speed limit model; the preset speed limit model is an exponential function with the minimum distance as an independent variable and the speed limit as a dependent variable; and formulating a speed limiting strategy of the unmanned vehicle at the current track point according to the speed limiting value so as to control the unmanned vehicle to run at a limited speed. The speed limit strategy is determined in advance through the preset speed limit model, so that the unmanned vehicle passes through the road section where the obstacle is located at a reasonable speed limit, collision and frequent sudden braking are avoided, abrasion of a brake pad is reduced, and the passing efficiency is improved.
本公开实施例提供了一种无人车的限速方法、装置及无人车,包括:获取感知模块识别到的无人车周围的障碍物信息;基于该障碍物信息,确定障碍物到无人车的行驶轨迹边缘的最小距离,该行驶轨迹的边缘包括无人车在行驶轨迹的每个轨迹点上行驶时无人车的包围盒的边框;基于预设限速模型,确定无人车在当前轨迹点处的限速值;预设限速模型为以该最小距离为自变量,以限速为因变量的指数型函数;根据限速值制定无人车在当前轨迹点处的限速策略,以控制无人车限速行驶。通过预设限速模型提前确定限速策略,使无人车以合理的限速驶过障碍物所在路段,既不会发生碰撞也不会频繁急刹,减少了刹车片的磨损,提高了通行效率。
Speed limiting method and device of unmanned vehicle and unmanned vehicle
一种无人车的限速方法、装置及无人车
2024-04-30
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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