The invention provides a method and device for determining the longitudinal speed of a vehicle, electronic equipment and a storage medium, and the method comprises the steps: determining the target vehicle speed at the next moment based on the speed limiting information of a road map at the current moment, the curvature information of the road map at the current moment, and the vehicle speed of a front vehicle of a target vehicle at the current moment; fitting the driving speed of the target vehicle at the current moment, the acceleration of the target vehicle at the current moment, the jerk of the target vehicle at the current moment and the target vehicle speed at the next moment based on a polynomial to generate a reference speed curve of the target vehicle; and determining a target function based on the reference speed curve, the acceleration constraint of the target vehicle and the jerk constraint of the target vehicle, carrying out optimization solution on the target function, and determining an optimized longitudinal speed vector of the target vehicle. Therefore, the automatic driving vehicle can better adapt to different road conditions and traffic conditions, sudden speed changes are reduced, and the riding experience of passengers is improved.

    本申请提供了车辆的纵向速度确定方法、装置、电子设备及存储介质,包括:基于当前时刻下的道路地图的限速信息、当前时刻下的道路地图的曲率信息以及当前时刻下的目标车辆的前车车速,确定出在下一时刻目标车速;基于多项式对当前时刻下目标车辆的驾驶速度、当前时刻下目标车辆的加速度、当前时刻下目标车辆的加加速度以及下一时刻的目标车速进行拟合处理,生成目标车辆的参考速度曲线;基于参考速度曲线、目标车辆的加速度约束以及目标车辆的加加速度约束确定出目标函数,对目标函数进行优化求解,确定出目标车辆的优化后的纵向速度向量。以使自动驾驶车辆能够更好地适应不同的道路条件和交通状况,减少突然的速度变化,提升乘客的乘坐体验。


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    Title :

    Vehicle longitudinal speed determination method and device, electronic equipment and storage medium


    Additional title:

    车辆的纵向速度确定方法、装置、电子设备及存储介质


    Contributors:
    LIU YANG (author) / TIAN LEI (author) / QIN TAO (author) / HOU YUQI (author) / LU JUN (author)

    Publication date :

    2024-05-10


    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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