Vehicle speed planning method, device and equipment

Abstract

The embodiment of the invention discloses a vehicle speed planning method. The method comprises the steps that according to crooked roots rate radius of a target front path and a reference front path,the initial planning speed of target path location and reference path point location is determined, and a first lateral and a second lateral acceleration are not more than a lateral acceleration threshold value; according to the initial planning speed of the target path point, the initial planning speed and the reference journey of the reference path point, target vertical acceleration and the target planning speed of the target path point are determined to make the target vertical acceleration in the a limit range of a vertical acceleration. Therefore, in the target path point location, the vehicle which drives according to the target planning speed and the target vertical acceleration is capable of avoiding violent speed reduction and violent lateral deviation, and therefore not only is driving safety of the vehicle improved, but also the taking comfort level of the passengers in the vehicle is improved, and the energy is saved. Besides, the embodiment of the invention further provides a vehicle speed planning device and equipment.

Description

technical field [0001] The present invention relates to the technical field of information processing, in particular to a method, device and equipment for vehicle speed planning. Background technique [0002] The current automotive intelligent system can not only provide the driver with a planning solution for the navigation path, but also provide a planning solution for the speed of the vehicle, which is used for the speed control of the vehicle during driving. In the prior art, the speed of the vehicle is usually controlled according to the obstacles ahead of the current position of the vehicle. Specifically, the system can obtain the detection results of obstacles in front of the vehicle based on detection equipment such as radars and cameras, and then plan an appropriate vehicle speed to follow the obstacles in front according to the position, speed, etc. , so that the planned vehicle speed is used to realize the vehicle speed control during the driving process of the v...

AI Technical Summary

Problems solved by technology

[0003] However, the inventors have found through research that on the one hand, detection equipment such as radars and cameras often need to be started at a sufficiently high vehicle speed to obtain relatively accurate detection results, which leads to the inability of the vehicle speed planning to be applicable to smaller vehicle speeds. On the one hand, in the case where no obstacle is detected or the detected obstacle is too far ahead, the planned vehicle speed will not be subject to any restrictions. It may cause an unbearable ride experience to the passengers in the car, and also cause a waste of energy

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