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A speed planning method, device and storage medium

A speed planning and speed technology, which is applied in the direction of instruments, road vehicle traffic control systems, traffic control systems, etc., can solve problems such as rear-end collisions, achieve reasonable speed planning, avoid traffic violations, and avoid unsafe behaviors

Active Publication Date: 2021-09-28
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
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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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  • A speed planning method, device and storage medium
  • A speed planning method, device and storage medium
  • A speed planning method, device and storage medium

Examples

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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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PUM

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Abstract

Embodiments of the present invention provide a speed planning method, device and storage medium. The method includes: obtaining the signal light state at the traffic intersection; when the signal light state is yellow light on, generating a plurality of candidate speed trajectories for the vehicle, the candidate speed trajectories include the vehicle's speed within the planning time period The speeds to be selected at multiple time points; according to each of the speed trajectories to be selected, determine the multiple positions to be selected of the vehicle when the yellow light is off; Among the speed trajectories to be selected, the planned speed trajectories of the vehicles are determined. The technical solution of the embodiment of the present invention can avoid traffic violations such as running a red light, and can avoid unsafe behaviors caused by a single braking speed planning, making the speed planning 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 Patents(China)
IPC IPC(8): G08G1/0967G08G1/0968
Inventor 柳长春陈雅琴耿鹏
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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