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Speed planning method, device and storage medium

A speed planning and speed technology, applied in the direction of instruments, traffic control systems, traffic control systems of road vehicles, etc., can solve problems such as rear-end collisions

Active Publication Date: 2019-06-14
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This speed planning method is likely to cause rear-end collisions, and even cause more serious traffic accidents

Method used

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  • Speed planning method, device and storage medium
  • Speed planning method, device and storage medium
  • Speed planning method, device and storage medium

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Embodiment Construction

[0071] 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.

[0072] figure 1 A flowchart showing a speed planning method according to an embodiment of the present invention. Such as figure 1 As shown, the method may include the following steps:

[0073] Step S100, obtaining the signal light status at the traffic intersection;

[0074] Step S200, when the state of the signal light is yellow, generate a plurality of candidate speed trajectories for the vehicle, the candidate speed trajectories include the candidate speeds of the vehicle at multiple time points within the planned time period ;

[0075] Step S300, according to each of the candidate speed trajectorie...

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Abstract

The embodiment of the invention provides a speed planning method, a device and a storage medium. The speed planning method comprises that steps that signal light states at traffic intersections are obtained; a plurality of to-be-chosen speed trajectories are generated for vehicles under the condition that the signal light states are yellow, and the to-be-chosen speed trajectories include to-be-chosen speeds of the vehicles at a plurality of time points in a planned time quantum; a plurality of to-be-chosen positions of the vehicles when yellow lights are turned off are determined according tothe multiple to-be-chosen speed trajectories; and planned speed trajectories of the vehicles are determined from all the to-be-chosen speed trajectories according to the to-be-chosen positions and thepositions of stop lines. According to the technical scheme of the speed planning method, the occurrence of the traffic violation acts of running red lights can be avoided, the unsafe act caused by asingle braking speed planning can be further avoided, and the speed planning is enabled to be more reasonable.

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. 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 of the self-driving vehicle, if it encounters a yellow light, it needs to plan its speed to avoid traffic violations such as running a red light. At this stage, in the case of an amber light, a speed trajectory is usually planned for the self-driving vehicle to stop with maximum deceleration. This way of speed planning is prone to rear-end collisions, and even more serious traffic accidents. Contents of the invention [00...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/0967G08G1/0968
Inventor 柳长春陈雅琴耿鹏
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD