The invention relates to a vehicle speed planning method and device, a vehicle and a storage medium, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring a lane center line of a lane where a vehicle is located, and determining a plurality of candidate reference points; for each candidate reference point, determining a target road speed limit of the candidate reference point according to the attribute information of the candidate reference point and the vehicle speed of the vehicle, and screening a target reference point from the candidate reference points based on the target road speed limit and the position of the candidate reference point; determining a first latest deceleration position of the vehicle; and according to the position of the target reference point, the target road speed limit, the first latest deceleration position and the perception data of the vehicle, generating a target ST map of the vehicle. Therefore, according to the scheme, the vehicle can be controlled to decelerate according to the speed limiting information in the target ST map, the speed limiting value can be provided, meanwhile, the more accurate speed limiting opportunity can be provided, the timeliness and comfort of speed limiting are guaranteed, and meanwhile the passing efficiency is guaranteed to the maximum degree.
本公开关于一种车辆的速度规划方法、装置、车辆和存储介质,属于自动驾驶技术领域。其中,该方法包括:获取车辆所在车道的车道中心线,并确定多个候选参考点;针对每个候选参考点,根据候选参考点的属性信息和车辆的车速,确定候选参考点的目标道路限速,并基于候选参考点的目标道路限速和位置,从候选参考点中筛选目标参考点;确定车辆的第一最晚减速位置;根据目标参考点的位置、目标道路限速和第一最晚减速位置和车辆的感知数据,生成车辆的目ST图。由此,本方案可以控制车辆按照目标ST图中的限速信息进行减速,不仅可以提供限速值,同时可以提供更精确的限速时机,保证限速的及时性和舒适性,同时也最大程度保证通行效率。
Vehicle speed planning method and device, vehicle and storage medium
车辆的速度规划方法、装置、车辆和存储介质
2024-08-30
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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