Velocity planning method and device for autonomous vehicle and storage medium
A technology for automatic driving and speed planning, applied in two-dimensional position/channel control and other directions, which can solve problems such as reducing passengers' psychological safety and comfort, and traffic accidents.
Active Publication Date: 2019-05-28
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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Problems solved by technology
If the speed planning is unreasonable, it will reduce the psychological safety and comfort of passengers, and even lead to traffic accidents.
Method used
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[0070] 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.
[0071] figure 1 A flow chart showing a method for speed planning of an autonomous vehicle according to an embodiment of the present invention. Such as figure 1 As shown, the method may include the following steps:
[0072] Step S100, in the case that the self-driving vehicle needs to pass through obstacles, generate a plurality of candidate speed trajectories for the self-driving vehicle, the candidate speed trajectories include candidate speeds corresponding to multiple time points within the planning time range ;
[0073] Step S200, for each of the candidate speed trajectories, according to the minimu...
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The embodiment of the invention provides a velocity planning method and device for an autonomous vehicle and a storage medium. The method comprises the steps that under the condition that the autonomous vehicle needs to pass by an obstacle, a plurality of to-be-selected velocity tracks are generate for the autonomous vehicle, wherein the to-be-selected velocity tracks comprise to-be-selected velocities corresponding to a plurality of points in time within a planning time range; for each to-be-selected velocity track, according to the lowest transverse distance between the autonomous vehicle and the obstacle, the desired velocity at which the autonomous vehicle passes by the obstacle is set; according to the to-be-selected velocities corresponding to the points in time and the desired velocity, cost function values of the to-be-selected velocity tracks are calculated; the to-be-selected velocity track with the minimum cost function value is selected as the planned velocity track of theautonomous vehicle passing by the obstacle. According to the embodiment, the reasonable and accurate velocity track can be planned for the autonomous vehicle, and it is ensured that an enough range iskept when the autonomous vehicle passes by the obstacle.
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). Self-driving vehicles can free the driver from some driving-related responsibilities and enable driving with minimal human-computer interaction. When the self-driving vehicle encounters an obstacle ahead, it may need to pass by the obstacle. In this case, trajectory planning, including velocity planning, is required. If the speed planning is unreasonable, it will reduce the psychological safety and comfort of passengers, and even lead to traffic accidents. Contents of the invention [0003] Embodiments of the present invention provide a speed planning method, device and storage medium for an automatic driving vehicle, so as to solve one or more technical prob...
Claims
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Inventor 柳长春陈雅琴耿鹏
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD