To provide a speed planning method for an automatic driving vehicle, a device, a storage medium, and a program.SOLUTION: There is provided a method comprising steps for: generating a plurality of selection candidate speed loci including selection candidate speeds in a plurality of time points in a planned time range, for an automatic driving vehicle before lane change of the automatic driving vehicle; acquiring a predicted speed and a predicted position in the plurality of time points of an obstacle; calculating a value of a loss function of each selection candidate speed locus on the basis of the selection candidate speed loci, the predicted speed and predicted position; and selecting the selection candidate speed locus having a minimum value of the loss function, as a planned speed locus of the automatic driving vehicle. According to the invention, a speed of the automatic driving vehicle before lane change is adjusted, a distance between the automatic driving vehicle and the obstacle on a target lane is increased for securing a trigger of lane change and a safe distance in lane change, for improving success rate of the lane change.SELECTED DRAWING: Figure 1
【課題】本発明は、自動運転車両の速度計画方法、装置、記憶媒体、及びプログラムを提供する。【解決手段】方法は、自動運転車両の車線変更前に、自動運転車両に、計画された時間範囲内の複数の時点における選択候補速度を含む選択候補速度軌跡を複数生成することと、障害物の前記複数の時点における予測速度及び予測位置を取得することと、前記選択候補速度軌跡と、前記予測速度及び前記予測位置とに基づいて、前記各選択候補速度軌跡の損失関数の値を算出することと、損失関数の最小値を有する前記選択候補速度軌跡を、前記自動運転車両の計画速度軌跡として選定することと、を含む。本発明によれば、車線変更前の自動運転車両の速度を調整し、自動運転車両と目標車線における障害物との距離を大きく空け、車線変更の契機と車線変更の際に安全な距離を作ることができ、それによって車線変更の成功率を向上させる。【選択図】図1
SPEED PLANNING METHOD FOR AUTOMATIC DRIVING VEHICLE, DEVICE, STORAGE MEDIUM AND PROGRAM
自動運転車両の速度計画方法、装置、記憶媒体、及びプログラム
2020-08-31
Patent
Electronic Resource
Japanese
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