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Speed planning method and apparatus for autonomous vehicle and storage medium

A technology of automatic driving and speed planning, which is applied in the traffic control system of road vehicles, vehicle position/route/height control, measuring devices, etc., can solve problems such as traffic accidents, and achieve the effect of improving the success rate and reasonable speed planning

Active Publication Date: 2019-05-03
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the speed planning is unreasonable, it will lead to traffic accidents

Method used

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  • Speed planning method and apparatus for autonomous vehicle and storage medium
  • Speed planning method and apparatus for autonomous vehicle and storage medium
  • Speed planning method and apparatus for autonomous vehicle and storage medium

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Embodiment Construction

[0058] In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0059] figure 1 A flow chart showing a method for speed planning of an autonomous vehicle according to an embodiment of the present invention. like figure 1 As shown, the method may include the following steps:

[0060] Step S100, before the automatic driving vehicle changes lanes, generate multiple candidate speed trajectories for the automatic driving vehicle, the candidate speed trajectories include candidate speeds corresponding to multiple time points within the planning time range;

[0061] Step S200, obtaining the predicted speed and predicted position corresponding to the obstacle at the multiple...

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Abstract

The embodiment of the invention provides a speed planning method and apparatus for an autonomous vehicle. The method comprises: before lane changing of an autonomous vehicle, a plurality of to-be-selected speed trajectories are generated for the autonomous vehicle, wherein the to-be-selected speed trajectories include to-be-selected speeds corresponding to a plurality of time points within a planned time range; a predicted speed and a predicted position corresponding to an obstacle at a plurality of time points are obtained; according to the to-be-selected speed trajectories as well as the predicted speed and the predicted position, a cost function value of each of the to-be-selected speed trajectories is calculated; and the to-be-selected speed trajectory with the minimum cost function value is selected as a planned speed trajectory of the autonomous vehicle. Therefore, the speed of the autonomous vehicle before lane changing can be adjusted and the distance between the autonomous vehicle and the obstacle of a target lane is increased to create a safety distance between the lane changing opportunity and the lane changing, so that the lane changing success rate is increased.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a speed planning method, device and storage medium for an automatic driving vehicle. Background technique [0002] Autonomous vehicles include vehicles operating in an autonomous mode (eg, driverless). Autonomous vehicles can free occupants, especially drivers, from some driving-related duties. Autonomous vehicles can navigate to locations using on-board sensors, allowing them to travel with minimal human interaction or without any passengers. During the driving process, the self-driving vehicle switches from one lane to another. This process is called changing lanes, referred to as lane changing, and can also be called incoming traffic. Before the autonomous vehicle changes lanes, it needs to perform trajectory planning, including speed planning. If the speed planning is unreasonable, it will lead to traffic accidents. Contents of the invention [0003] E...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/0967G08G1/16
CPCB60W30/18163B60W2720/103B60W2720/10B60W2554/4042B60W2554/4041B60W50/0097B60W60/001B60W30/14B60W30/10B60W40/105B60W2552/50B60W2050/0026B60Y2300/18166G05D1/0223G05D1/0238B60W2754/10B60W60/0011G01C21/3453G06V20/58
Inventor 柳长春陈雅琴耿鹏
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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