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Speed curve processing method and device, electric vehicle and electronic equipment

A speed curve and processing method technology, applied in the field of autonomous driving, can solve problems such as poor passenger experience, insufficient smooth speed curve, and sudden change in vehicle speed.

Pending Publication Date: 2021-09-10
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the distance between two adjacent discrete waypoints is large, the corresponding obtained speed curve will not be smooth enough, resulting in a sudden change in the driving speed of the vehicle.
Such a situation, on the one hand, makes the driving safety of the final planned trajectory insufficient;

Method used

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  • Speed curve processing method and device, electric vehicle and electronic equipment
  • Speed curve processing method and device, electric vehicle and electronic equipment
  • Speed curve processing method and device, electric vehicle and electronic equipment

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Embodiment Construction

[0049] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0050] The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible combinations of one or more of the...

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Abstract

The embodiment of the invention relates to a speed curve processing method and device, an electric vehicle and electronic equipment. The method comprises the following steps: acquiring a plurality of discrete position points according to a reference speed curve; obtaining an initial control point according to the discrete position point and an initial boundary condition; according to the initial control point and the target cost function, obtaining a corresponding optimization control point; wherein the target cost function is constrained by a set constraint condition; and controlling the reference speed curve according to the optimization control point, and generating a speed optimization curve. According to the method provided by the embodiment of the invention, a safe, reliable and stable driving speed curve can be provided.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a speed curve processing method, device, electric vehicle and electronic equipment. Background technique [0002] In related technologies, safe and effective trajectory planning is a very important link in the automatic driving of automobiles. When the Lattice planning method is used for trajectory planning, the environment can be projected onto the vertical and horizontal axes by using the Frenet coordinate system to generate a planned trajectory including three dimensions, including longitudinal displacement s, lateral displacement l and time t. Furthermore, due to the huge computational complexity of 3D planning, it is usually decoupled into 2D path planning (s, l) and 2D speed planning (s, t). The idea is to first select a collision-free path curve, then determine the velocity curve along this path curve, and then combine the path curve and velocity curve to constr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00
CPCB60W60/0016Y02T10/84
Inventor 温勇兵
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD