The embodiment of the invention discloses a vehicle speed determination method and device, equipment and a medium, and the method comprises the steps: obtaining a predicted value of a vehicle steering angle at each moment in a set time period from the current moment in a vehicle driving process; the maximum vehicle steering angle is selected from the obtained vehicle steering angles to serve as a limited steering angle; the limited vehicle speed corresponding to the limited steering angle is determined; taking the limited vehicle speed as the safe driving vehicle speed of the current vehicle, comparing the safe driving vehicle speed with the current control vehicle speed, if the safe driving vehicle speed is smaller than the current control vehicle speed, taking the safe driving vehicle speed as the target control speed of the next moment, and if the safe driving vehicle speed is larger than the current control vehicle speed, taking the target control speed as the target control speed of the next moment. And if so, taking the current control vehicle speed as the target control speed of the next moment. By the adoption of the technical scheme, the transverse control precision of the automatic driving vehicle in the curve driving process is improved, and the safety of the curve driving process is guaranteed.
本发明实施例公开一种车辆速度的确定方法、装置、设备和介质,该方法包括:在车辆行驶过程中,获取从当前时刻开始的设定时间段内每个时刻的车辆转向角的预测值;从获取到的各车辆转向角中选择数值最大的车辆转向角,作为限制转向角;确定限制转向角对应的限制车速;将限制车速作为当前车辆的安全行驶车速,并将安全行驶车速与当前控制车速进行比较,如果安全行驶车速小于当前控制车速,则将安全行驶车速作为下一时刻的目标控制速度,如果安全行驶车速大于当前控制车速,则将当前控制车速作为下一时刻的目标控制速度。通过采用上述技术方案,提高了自动驾驶车辆在弯道行驶过程中的横向控制精度,保证了弯道行驶过程的安全性。
Vehicle speed determination method and device, equipment and medium
一种车辆速度的确定方法、装置、设备和介质
2024-10-18
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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