The invention relates to the technical field of vehicles, in particular to a vehicle intersection speed planning method and device, a vehicle and a storage medium, and the method comprises the steps: calculating a transverse vehicle distance when a current vehicle intersects with an opposite vehicle; based on the transverse vehicle distance, looking up a preset intersection vehicle distance safety speed table to obtain a target safety speed when the current vehicle intersects with the opposite vehicle; and the current vehicle speed of the current vehicle and the predicted trajectory of the opposite vehicle are obtained, the intersection interval of the opposite vehicle and the current vehicle is obtained based on a preset deceleration strategy according to the current vehicle speed, the target safety speed and the predicted trajectory of the opposite vehicle, and the speed of the current vehicle is planned based on the target safety speed and the intersection interval. Therefore, the problem that safety risks exist in the intersection scene due to the fact that various actual factors are not fully considered in the related technology is solved, and the safety of vehicle driving and the comfort level of a user are improved by determining the vehicle intersection interval and the vehicle safety speed.
本申请涉及车辆技术领域,特别涉及一种车辆交汇速度规划方法、装置、车辆及存储介质,方法包括:计算当前车辆与对向车辆交汇时的横向车辆间距;基于横向车辆间距,从预设的交汇车辆间距安全速度表中查表得到当前车辆与对向车辆交汇时的目标安全速度;获取当前车辆的当前车速和对向车辆的预测轨迹,并基于预设的减速度策略,根据当前车速、目标安全速度和对向车辆的预测轨迹得到对向车辆与当前车辆的交汇点区间,并基于目标安全速度和交汇点区间对当前车辆进行速度规划。由此,解决了相关技术未充分考虑各种实际因素,导致车辆在交汇场景存在安全风险等问题,通过确定车辆交汇点区间和车辆安全速度,提升了车辆驾驶的安全性和用户的舒适度。
Vehicle intersection speed planning method and device, vehicle and storage medium
车辆交汇速度规划方法、装置、车辆及存储介质
2024-11-26
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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