Speed planning method, device and storage medium for autonomous vehicles
A technology of automatic driving and speed planning, applied in two-dimensional position/channel control and other directions, can solve the problems of reducing passengers' psychological safety and comfort, traffic accidents, etc., and achieve the effect of improving passenger comfort and reasonable speed planning.
Active Publication Date: 2022-01-28
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.
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[0070] Hereinafter, some exemplary embodiments are simply described. As will be appreciated by those skilled in the art, the described embodiments can be modified in a variety of different ways without departing from the spirit or scope of the invention. Thus, the drawings and descriptions are considered to be exemplary rather than restrictive.
[0071] figure 1 A flow chart showing a speed planning method of an automatic driving vehicle according to an embodiment of the present invention. like figure 1 As shown, the method can include the following steps:
[0072] In step S100, in the case where the automatic driving vehicle needs to pass the obstacle, the automatic driving vehicle generates a plurality of to-select speed trajectories, the alternate velocity trajectory including a plurality of time points corresponding to a planning time range. ;
[0073] Step S200, for each of the alternate velocity trajectories, the desired speed of the automatic driving vehicle through the ob...
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Embodiments of the present invention provide a speed planning method, device and storage medium for an automatic driving vehicle. The method includes: in the case that the self-driving vehicle needs to pass through obstacles, generating a plurality of candidate speed trajectories for the self-driving vehicle, the candidate speed trajectories include candidate speed trajectories corresponding to multiple time points within the planning time range Speed; for each of the candidate speed trajectories, according to the minimum lateral distance between the self-driving vehicle and the obstacle, set the expected speed of the self-driving vehicle passing through the obstacle; and according to each of the time points Calculate the cost function value of the candidate speed trajectory corresponding to the candidate speed and the expected speed; select the candidate speed trajectory with the smallest cost function value as the planned speed for the automatic driving vehicle to pass through the obstacle trajectory. The embodiment of the present invention can plan a reasonable and accurate speed trajectory for the self-driving vehicle to ensure that a sufficient interval is maintained when passing obstacles.
Description
Technical field [0001] The present invention relates to the field of automatic driving techniques, and more particularly to a speed planning method, apparatus, and storage medium of an automatic driving vehicle. Background technique [0002] Automatic driving vehicles include vehicles operating (eg, drivatic) in automatic driving mode. The automatic driving vehicle can liberate the driver from some driving related responsibilities, and driving in the case where the minimum human machine interaction. The automatic driving vehicle is in the driving process, and the obstacles that appear in front may need to pass by the obstacle. In this case, there is a need for trajectory planning, including speed planning. If the speed plan is unreasonable, it will reduce the psychological security and comfort of the passengers, and even lead to traffic accidents. Inventive content [0003] Embodiments of the present invention provide a speed planning method, apparatus, and storage medium of aut...
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IPC IPC(8): G05D1/02
Inventor 柳长春陈雅琴耿鹏
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD