The invention discloses a speed planning method, speed planning equipment, a vehicle and a readable storage medium. The method comprises the following steps: constructing a speed planning model from a starting point to an end point according to a state transition equation of the vehicle; planning a first speed curve from the current state to the end point state based on the speed planning model, and judging whether the first speed curve meets the speed upper limit constraint or not; if not, expanding the current state, selecting a target candidate state from the candidate states obtained by expansion as the current state, and returning to execute the step of planning the first speed curve from the current state to the end point state based on the speed planning model; and if yes, obtaining a speed planning result according to the first speed curve. According to the scheme disclosed by the invention, the speed planning result can be obtained only by performing recursion and traversing the path once from the starting point through the process, the calculation power consumption and the time consumption of speed planning can be reduced, speed planning can be performed on any scene, and the adaptability of speed planning is improved.
本申请公开了一种速度规划方法、速度规划设备、车辆及可读存储介质,方法包括:根据车辆的状态迁移方程构建从起点到终点的速度规划模型;基于速度规划模型规划从当前状态到达终点状态的第一速度曲线,判断第一速度曲线是否满足速度上限约束;若否,则对当前状态扩展,从扩展得到的候选状态中选择目标候选状态作为当前状态,返回执行基于速度规划模型规划从当前状态到达终点状态的第一速度曲线的步骤;若是,则根据第一速度曲线得到速度规划结果。本申请公开的方案,通过上述过程实现只需从起点开始进行递推,遍历一次路径即可得到速度规划结果,可降低速度规划的算力消耗和时间消耗,并能够对任意场景进行速度规划,提高速度规划的适应性。
Speed planning method, speed planning equipment, vehicle and readable storage medium
速度规划方法、速度规划设备、车辆及可读存储介质
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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