Method, system, medium, computer program product, electronic device and mobile tool for guiding the speed planning of a vehicle

Abstract

The application relates to a speed planning method, system, medium, computer program product, electronic equipment and mobile tool of a guide vehicle, wherein the method comprises the following steps: step 101, receiving guide vehicle target information, the guide vehicle target information comprising a first distance between the guide vehicle and a guide vehicle target; step 102, mapping the position of a virtual leader aircraft on the driving path in front of the guide vehicle according to the first distance, the distance between the virtual leader aircraft and the guide vehicle being a second distance; the second distance is negatively correlated with the first distance; step 103, judging whether the second distance is greater than a preset following distance; step 104, if the second distance is greater than the preset following distance, increasing the guide speed of the guide vehicle according to a preset value; and step 105, if the second distance is less than the preset following distance, reducing the guide speed according to a preset value.

Description

Technical Field

[0001] This invention relates to the field of automatic control, and more particularly to a speed planning method, system, medium, computer program product, electronic device, and mobile tool for guiding vehicles. Background Technology

[0002] When vehicles or airplanes need to be guided along a designated route, manned guide vehicles are limited by the driver's experience and judgment. Unmanned or autonomous vehicles can avoid the instability caused by humans. However, in the current technology, how to control the guide vehicle to accelerate and decelerate according to the following distance of the guide vehicle to avoid losing track or colliding is still a problem to be solved. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a speed planning method, system, medium, computer program product, electronic device, and mobile tool for a guide vehicle. This method maps the speed and distance of the guide vehicle target to a virtual leader in front of the guide vehicle, transforming the problem of the guide vehicle guiding the target into the problem of the guide vehicle following the virtual leader, thereby simplifying the guide vehicle's speed planning into the guide vehicle's following speed planning.

[0004] To achieve the above objectives, the present invention provides a speed planning method for a guiding vehicle, the method comprising:

[0005] Step 101: Receive guide vehicle target information, wherein the guide vehicle target information includes: a first distance between the guide vehicle and the guide vehicle target;

[0006] Step 102: Map the position of the virtual leader on the driving path in front of the guide vehicle according to the first distance; the distance between the virtual leader and the guide vehicle is the second distance; the second distance is negatively correlated with the first distance.

[0007] Step 103: Determine whether the second distance is greater than the preset following distance;

[0008] Step 104: If the second distance is greater than the preset following distance, then increase the guiding speed of the guide vehicle according to the preset value;

[0009] Step 105: If the second distance is less than the preset following distance, then reduce the guiding speed according to the preset value.

[0010] Furthermore, after step 101, the method further includes:

[0011] Step 106: Determine whether the first distance is less than the preset guideable distance;

[0012] If the distance is less than the preset guideable distance, proceed to step 102;

[0013] If the distance is not less than the preset guideable distance, then proceed to step 106.

[0014] Furthermore, the guide vehicle target information also includes: the first speed of the guide vehicle target; after step 101, the method further includes:

[0015] Step 107: Map the second speed of the virtual leader on the driving path in front of the guide vehicle according to the first speed, the first distance and the preset following distance, wherein the second speed = the first speed + speed variable, and the speed variable is determined by the first distance and the preset following distance.

[0016] Furthermore, the speed variable determined by the first distance and the preset following distance is specifically as follows:

[0017] When the first distance is greater than the preset following distance, the speed variable value is zero;

[0018] When the first distance is less than the preset following distance, the speed variable is a positive value.

[0019] Furthermore, when the speed variable is positive, the speed variable value is positively correlated with the difference between the preset following distance and the first distance.

[0020] Furthermore, after step 107, the method further includes:

[0021] Step 108: Determine whether the second speed is greater than the first speed;

[0022] Step 109: If the second speed is greater than the first speed, then increase the guiding speed according to a preset value.

[0023] Furthermore, the preset value is set dynamically based on dynamic programming.

[0024] A second aspect of the present invention provides a speed planning system for a guiding vehicle, the system comprising:

[0025] The perception module is used to acquire target information of the guide vehicle, the target information of the guide vehicle including: a first distance between the guide vehicle and the target vehicle;

[0026] The planning module is used to receive the target information of the guide vehicle sent by the perception module, and map the position of the virtual leader on the driving path in front of the guide vehicle according to the first distance and the preset following distance. The distance between the virtual leader and the guide vehicle is the second distance. When the first distance is greater than the preset following distance, the mapped second distance is less than the preset following distance. When the first distance is less than the preset following distance, the mapped second distance is greater than the preset following distance. The second distance is negatively correlated with the first distance.

[0027] The decision module is used to receive the second distance sent by the planning module and determine whether the second distance is greater than the preset following distance; if the second distance is greater than the preset following distance, the guiding speed of the guide vehicle is increased according to the preset value; if the second distance is less than the preset following distance, the guiding speed is decreased according to the preset value.

[0028] Furthermore, the system also includes a judgment module, used to receive the target information of the guide vehicle sent by the perception module, and to determine whether the first distance is less than a preset guideable distance. If it is less than the preset guideable distance, the planning module is executed; if it is not less than the preset guideable distance, the judgment module is executed.

[0029] Furthermore, the target information of the guide vehicle acquired by the perception module also includes: the first speed of the guide vehicle target; the planning module is also used to map the second speed of the virtual leader on the driving path in front of the guide vehicle according to the first speed, the first distance and the preset following distance, wherein the second speed = the first speed + speed variable, and the speed variable is determined by the first distance and the preset following distance.

[0030] The decision module is further configured to receive the second speed sent by the planning module and determine whether the second speed is greater than the first speed; if the second speed is greater than the first speed, the guiding speed is increased according to a preset value.

[0031] A third aspect of the present invention provides a storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0032] A fourth aspect of the present invention provides a computer program product comprising instructions that, when the computer program product is run on a computer, cause the computer to perform the steps of the method described in any of the first aspects.

[0033] A fifth aspect of the present invention provides an electronic device comprising: at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the method of any one aspect of the present invention.

[0034] A sixth aspect of the present invention provides a mobile tool, including the electronic device described in the fifth aspect.

[0035] This invention provides a speed planning method, system, medium, computer program product, electronic device, and mobile tool for a guide vehicle. It maps the speed and distance of the guide vehicle target to a virtual leader in front of the guide vehicle, transforming the problem of the guide vehicle guiding the target into the problem of the guide vehicle following the virtual leader, thereby simplifying the guide vehicle's speed planning into the guide vehicle's following speed planning. Attached Figure Description

[0036] Figure 1 A first flowchart of a speed planning method for a guide vehicle provided in an embodiment of the present invention;

[0037] Figure 2 A second flowchart of a speed planning method for a guide vehicle provided in an embodiment of the present invention;

[0038] Figure 3 A third flowchart of a speed planning method for a guide vehicle provided in an embodiment of the present invention;

[0039] Figure 4 A fourth flowchart of a speed planning method for a guide vehicle provided in an embodiment of the present invention;

[0040] Figure 5 This is a location mapping diagram of the virtual consignment device provided in an embodiment of the present invention;

[0041] Figure 6 This is a discrete network diagram for guiding vehicle speed planning provided in an embodiment of the present invention;

[0042] Figure 7(a) is one of the coordinate diagrams for guide vehicle speed planning provided in an embodiment of the present invention;

[0043] Figure 7(b) is a second coordinate diagram of the speed planning of the guide vehicle provided in an embodiment of the present invention;

[0044] Figure 7(c) is the third of the speed planning coordinate diagrams for the guide vehicle provided in the embodiment of the present invention;

[0045] Figure 8 This is a first structural schematic diagram of a speed planning system for a guide vehicle provided in an embodiment of the present invention.

[0046] Figure 9 This is a second structural schematic diagram of a speed planning system for a guide vehicle provided in an embodiment of the present invention;

[0047] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0048] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0049] The speed planning method and system for a guide vehicle provided in this invention are applied to unmanned guide vehicles, and the guide target is not limited to vehicles, aircraft, or other mobile transportation tools. By mapping the guide vehicle target to a virtual leader aircraft, the problem of guiding the following vehicle is simplified into a speed planning problem of following the virtual leader aircraft.

[0050] Example 1

[0051] Embodiment 1 of the present invention provides a speed planning method for a guiding vehicle. Figure 1 A flowchart of a speed planning method for a guide vehicle provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes:

[0052] Step 101: Receive the target information of the guide vehicle. The target information of the guide vehicle includes the first distance between the guide vehicle and the target vehicle.

[0053] Specifically, the perception module of the autonomous driving guide vehicle detects obstacles around the vehicle in real time, including real-time monitoring of obstacle distances. When the autonomous driving guide vehicle receives a guidance task, it may obtain the guidance instructions sent by the server and the ID of the guide vehicle target. The guide vehicle checks in real time whether the ID of the guide vehicle target appears in all the obstacle information it monitors. If it does, the distance between the guide vehicle and the guide vehicle target is set as the first distance.

[0054] Step 102: Map the position of the virtual leader on the driving path in front of the guide vehicle according to the first distance. The distance between the virtual leader and the guide vehicle is the second distance. The second distance is negatively correlated with the first distance. Figure 5 The location mapping diagram of the virtual consignment device provided in the embodiments of the present invention is as follows: Figure 5 As shown, d tar Let d be the first distance. vir For the second distance, when Figure 5 (b) of d tar Comparison Figure 5 (a) of d tar When decreasing, Figure 5 (b) of d vir Comparison Figure 5(a) of d vir Increase.

[0055] Step 103: Determine whether the second distance is greater than the preset following distance.

[0056] Step 104: If the second distance is greater than the preset following distance, increase the guiding speed of the guide vehicle according to the preset value.

[0057] Step 105: If the second distance is less than the preset following distance, the guiding speed is reduced according to the preset value.

[0058] Specifically, in a specific virtual leader location scheme, the sum of the first distance and the second distance is set to a fixed value A. In one embodiment, A is twice the preset following distance. The first distance is obtained by the system's perception module and is a known value. Then, the second distance = A - the first distance. It can be seen from the formula that the second distance and the first distance are negatively correlated.

[0059] When the first distance is greater than the preset following distance, the second distance is less than the preset following distance. When the second distance is less than the preset following distance, the guide vehicle needs to reduce its guiding speed according to the system's preset value and wait for the guide vehicle target to approach. The first distance gradually decreases, and the second distance gradually increases until the second distance reaches the preset following distance.

[0060] When the first distance is less than the preset following distance, the second distance is greater than the preset following distance. When the second distance is greater than the preset following distance, the guide vehicle needs to increase the guiding speed according to the system's preset value to increase the first distance between itself and the target to be guided, so that the second distance gradually decreases until the second distance reaches the preset following distance.

[0061] In one alternative approach, the preset value for increasing or decreasing the speed of the guide vehicle is dynamically set based on dynamic programming.

[0062] Specifically, since the trajectory of the guiding vehicle lies between the virtual leader and the target guiding vehicle, the search space for the guiding vehicle's trajectory is limited to the convex space between the trajectories of the virtual leader and the target guiding vehicle. The guiding vehicle's trajectory represents the optimal solution within this convex space. Dynamic programming is used to find the optimal solution within this convex space, such as... Figure 6As shown, the first and second distances of the virtual leader and guide vehicle targets relative to the reference position are mapped to an ST coordinate system with time on the horizontal axis and distance on the vertical axis. The ST mappings of the virtual leader and guide vehicle targets are then discretized into a mesh graph with equal time and distance intervals. Each node in the mesh contains a cost function consisting of one or more costs, including virtual leader distance cost, following error cost, road curvature cost, and guide vehicle speed and acceleration limit cost. By updating the cost of each node in the direction of increasing time, the node with the smallest cost in the column with the largest time in the ST discrete mesh graph is found as the final node of the search process. Then, the parent node is searched sequentially from the final node back to obtain the discrete guide vehicle trajectory point sequence 601. Since the discrete guide vehicle trajectory point sequence is located in a convex space, a quadratic programming approach can be used for convex optimization to obtain a more refined and smooth guide vehicle trajectory curve. Figure 6 The solid line shown is the continuous trajectory curve 602 of the guide vehicle after convex optimization of the discrete trajectory point sequence of the guide vehicle through quadratic programming. Convex optimization through quadratic programming is an existing technology and will not be described in detail here.

[0063] In a preferred embodiment, such as Figure 2 As shown, after step 101, there is step 106, which determines whether the first distance is less than the preset guideable distance; if it is less than the preset guideable distance, then proceed to step 102; if it is not less than the preset guideable distance, then continue to step 106, and determine in real time whether the first distance is less than the preset guideable distance.

[0064] Specifically, upon detecting the target vehicle, the guidance vehicle's judgment module first determines whether the initial distance meets the traction conditions. The preset guideable distance is pre-set based on the actual distance requirements of the guide vehicle. Only when the initial distance is less than the preset guideable distance is the traction mode triggered, and a traction command is sent to the planning module, which then begins data processing. If the initial distance is greater than or equal to the preset guideable distance, the judgment module continues to make real-time judgments.

[0065] Example 2

[0066] Based on the method in Example 1, Example 2 further optimizes the speed planning of the guide vehicle.

[0067] The target information for the guide vehicle also includes: the target vehicle's initial speed; such as... Figure 3 As shown, after step 101, the method further includes:

[0068] Step 107: Map the second speed of the virtual leader on the driving path in front of the guide vehicle according to the first speed, the first distance and the preset following distance, where the second speed = the first speed + speed variable, and the speed variable is determined by the first distance and the preset following distance.

[0069] In a preferred embodiment, the speed variable is determined by a first distance and a preset following distance, specifically as follows:

[0070] When the initial distance is greater than the preset following distance, the speed variable value is zero.

[0071] When the first distance is less than the preset following distance, the speed variable is a positive value.

[0072] Preferably, when the speed variable is positive, the speed variable value is positively correlated with the difference between the preset following distance and the first distance.

[0073] Furthermore, such as Figure 4 As shown, after step 107, the method further includes:

[0074] Step 108: Determine whether the second speed is greater than the first speed.

[0075] Step 109: If the second speed is greater than the first speed, then increase the guiding speed according to the preset value.

[0076] Specifically, the perception module of the autonomous driving guide vehicle detects obstacles around the vehicle in real time, including real-time monitoring of obstacle speeds. When the autonomous driving guide vehicle receives a guidance task, it may obtain the guidance instructions sent by the server and the ID of the guide vehicle target. The guide vehicle checks in real time whether the ID of the guide vehicle target appears in all the obstacle information it monitors. If it does, the speed of the guide vehicle target is set to the first speed.

[0077] The first speed is mapped to the second speed of the virtual leader. The second speed is related to the first speed, the first distance, and the preset following distance. The preferred second speed = first speed + speed variable, where the speed variable is determined by the first distance and the preset following distance, and the speed variable is not less than zero.

[0078] In one possible implementation, as shown in Figure 7(a), when the first distance d tar Greater than the preset following distance d desired When it is time, it indicates that the distance between the target vehicle and the guide vehicle needs to be reduced, and the speed variable ΔV is changed. offset Set to zero, first velocity V tar Equal to the second velocity V vir At this point, it is not necessary to further adjust the guiding speed based on the mapping of the first speed; it is only necessary to adjust the guiding speed based on the mapping of the first distance. The self-vehicle in Figure 7 is equivalent to the guiding vehicle.

[0079] As shown in Figure 7(b), when the first distance d tar Less than the preset following distance d desiredWhen it is time to increase the distance between the target and the guide vehicle, the speed variable ΔV is used. offset Set to a positive value, second speed V vir Greater than the first velocity V tar Based on the first distance d tar While increasing the guiding speed according to the preset value, the mapping also needs to be based on the first speed V. tar Mapping is used to further adjust the guiding speed, when the second speed V of the mapping is... vir When V is greater than the first velocity tar The boot speed is further increased based on preset values.

[0080] Furthermore, when the speed variable is positive, the larger the difference between the first distance and the preset following distance, that is, the closer the distance between the guide vehicle target and the guide vehicle, the more the guide vehicle needs to accelerate to increase the distance between itself and the guide vehicle target. Therefore, the speed variable value is set to be positively correlated with the difference between the preset following distance and the first distance. The larger the difference, the larger the speed variable, and thus the larger the difference between the second speed and the first speed. When the second speed is larger, the slope of the virtual leader curve in Figure 7 is larger, that is, the change of the vertical axis of the virtual leader is larger. Therefore, the number of nodes that can be selected in the direction of the vertical axis of the virtual leader increases. When the curve with a larger slope of the guide vehicle is selected, the guide vehicle can accelerate to the maximum cruising speed faster.

[0081] Furthermore, as shown in Figure 7(c), when the guide vehicle stops at the target, the first speed V tar When the velocity is zero, the distance between the guide vehicle and the target vehicle increases, according to the second velocity V. vir = First velocity V tar + Velocity variable △V offset Where the velocity variable is not less than zero, therefore when the first velocity V tar When it is zero, the velocity variable ΔV offset Second speed V vir All are zero, second velocity V vir If the value is zero, the virtual leader aircraft has stopped. To avoid colliding with the virtual leader aircraft, the guide vehicle gradually decelerates and stops according to the preset value.

[0082] Example 3

[0083] Embodiment 3 of the present invention provides a speed planning system for a guide vehicle, and the application of this system to an unmanned guide vehicle will now be described. Figure 8 This is a schematic diagram of a speed planning system for a guide vehicle provided in an embodiment of the present invention.

[0084] like Figure 8 As shown, the speed planning system of the guide vehicle includes: a perception module 1, a planning module 2, and a decision-making module 3.

[0085] The perception module 1 is used to acquire the target information of the guide vehicle, which includes the first distance between the guide vehicle and the target vehicle.

[0086] The planning module 2 is used to receive the target information of the guide vehicle sent by the perception module 1, and map the position of the virtual leader on the driving path in front of the guide vehicle according to the first distance and the preset following distance. The distance between the virtual leader and the guide vehicle is the second distance. When the first distance is greater than the preset following distance, the mapped second distance is less than the preset following distance. When the first distance is less than the preset following distance, the mapped second distance is greater than the preset following distance. The second distance is negatively correlated with the first distance.

[0087] The decision module 3 is used to receive the second distance sent by the planning module 2 and determine whether the second distance is greater than the preset following distance. If the second distance is greater than the preset following distance, the guiding speed of the guiding vehicle is increased according to the preset value. If the second distance is less than the preset following distance, the guiding speed is decreased according to the preset value.

[0088] Furthermore, such as Figure 9 As shown, the system also includes: a judgment module 4, which is used to receive the target information of the guide vehicle sent by the perception module 1 and determine whether the first distance is less than the preset guideable distance. If it is less than the preset guideable distance, the planning module 2 is executed; if it is not less than the preset guideable distance, the judgment module 4 is executed.

[0089] Furthermore, the target information of the guide vehicle acquired by the perception module 1 also includes: the first speed of the guide vehicle target; the planning module 2 is also used to map the second speed of the virtual guide vehicle on the driving path in front of the guide vehicle according to the first speed, the first distance and the preset following distance, wherein the second speed = the first speed + speed variable, and the speed variable is determined by the first distance and the preset following distance.

[0090] Furthermore, the decision module 3 is also used to receive the second speed sent by the planning module 2 and determine whether the second speed is greater than the first speed; if the second speed is greater than the first speed, the guiding speed is increased according to a preset value.

[0091] The speed planning system for the guide vehicle provided in Embodiment 3 of the present invention can execute the method steps in Embodiments 1 and 2 above. Its implementation principle and technical effect are similar, and will not be repeated here.

[0092] Figure 10 This is a schematic diagram of the hardware structure of the electronic device provided by the present invention, which includes:

[0093] One or more processors 710 and memory 720, with one processor 710 as an example in Figure 7.

[0094] The electronic device further includes an input device 730 and an output device 740.

[0095] The processor 710, memory 720, input device 730 and output device 740 can be connected by a bus or other means. Figure 7 shows an example of connection by bus.

[0096] The memory 720, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the obstacle risk field environment modeling method in this embodiment of the invention. The processor 710 executes various server functions and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 720, thereby implementing the speed planning method for the guide vehicle in the above method embodiment.

[0097] The memory 720 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the speed planning method for the guided vehicle, etc. Furthermore, the memory 720 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 720 may optionally include memory remotely located relative to the processor 710. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0098] Input device 730 can receive input numerical or character information, and input device 730 can be, for example, a mouse, keyboard, tablet, touch screen, etc. Output device 740 may include display devices such as a display screen.

[0099] The one or more modules are stored in the memory 720, and when executed by the one or more processors 710, they execute the speed planning method for the guide vehicle in any of the above method embodiments.

[0100] The above-described product can execute the method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the method provided in the embodiments of the present invention.

[0101] The electronic devices of this invention exist in various forms, including but not limited to:

[0102] (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These terminals include smartphones, multimedia phones, feature phones, and low-end phones.

[0103] (2) Ultra-mobile personal computer devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPCs, such as tablet computers.

[0104] (3) Portable entertainment devices: These devices can display and play multimedia content. This category includes audio and video players, handheld game consoles, e-book readers, as well as smart toys and portable car navigation devices.

[0105] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0106] (5) Other airborne electronic devices with data interaction capabilities, such as vehicle-mounted systems installed in vehicles.

[0107] This invention also provides a mobile tool, including the electronic device described above. The mobile tool includes autonomous vehicles (e.g., passenger cars, sweepers, sanitation vehicles, buses, minibuses, trucks, vacuum cleaners, floor scrubbers), robotic vacuum cleaners, and aircraft.

[0108] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0109] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0110] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0111] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A speed planning method for a guiding vehicle, characterized in that, The method includes: Step 101: Receive guide vehicle target information, wherein the guide vehicle target information includes: a first distance between the guide vehicle and the guide vehicle target; Step 102: Determine whether the first distance is less than the preset guideable distance; If the first distance is less than the preset guideable distance, then proceed to step 103; If the first distance is not less than the preset guideable distance, then return to step 102; Step 103: Map the position of the virtual leader on the driving path in front of the guide vehicle according to the first distance; the distance between the virtual leader and the guide vehicle is the second distance; the second distance is negatively correlated with the first distance. Step 104: Determine whether the second distance is greater than the preset following distance; Step 105: If the second distance is greater than the preset following distance, then increase the guiding speed of the guide vehicle according to the preset value; Step 106: If the second distance is less than the preset following distance, then reduce the guiding speed according to the preset value.

2. The speed planning method for the guide vehicle according to claim 1, characterized in that, The guide vehicle target information also includes: the first speed of the guide vehicle target; after step 101, the method further includes: Step 107: Map the second speed of the virtual leader on the driving path in front of the guide vehicle according to the first speed, the first distance and the preset following distance, where the second speed = the first speed + speed variable, and the speed variable is determined by the first distance and the preset following distance.

3. The speed planning method for the guide vehicle according to claim 2, characterized in that, The speed variable is determined by the first distance and the preset following distance, specifically as follows: When the first distance is greater than the preset following distance, the speed variable value is zero; When the first distance is less than the preset following distance, the speed variable is a positive value.

4. The speed planning method for the guide vehicle according to claim 3, characterized in that, When the speed variable is positive, the speed variable value is positively correlated with the difference between the preset following distance and the first distance.

5. The speed planning method for the guide vehicle according to claim 3, characterized in that, After step 107, the method further includes: Step 108: Determine whether the second speed is greater than the first speed; Step 109: If the second speed is greater than the first speed, then increase the guiding speed according to a preset value.

6. The speed planning method for the guide vehicle according to claim 1, characterized in that, The preset value is set dynamically based on dynamic programming.

7. A speed planning system for a guiding vehicle, characterized in that, The system includes: The perception module is used to acquire target information of the guide vehicle, the target information of the guide vehicle including: a first distance between the guide vehicle and the target vehicle; The planning module is used to receive the target information of the guide vehicle sent by the perception module, and map the position of the virtual leader on the driving path in front of the guide vehicle according to the first distance and the preset following distance. The distance between the virtual leader and the guide vehicle is the second distance. When the first distance is greater than the preset following distance, the mapped second distance is less than the preset following distance. When the first distance is less than the preset following distance, the mapped second distance is greater than the preset following distance. The second distance is negatively correlated with the first distance. The decision module is used to receive the second distance sent by the planning module and determine whether the second distance is greater than the preset following distance; if the second distance is greater than the preset following distance, the guiding speed of the guide vehicle is increased according to the preset value; if the second distance is less than the preset following distance, the guiding speed is decreased according to the preset value.

8. The speed planning system for the guiding vehicle according to claim 7, characterized in that, The system further includes a judgment module, used to receive the target information of the guide vehicle sent by the perception module, and to determine whether the first distance is less than a preset guideable distance. If it is less than the preset guideable distance, the planning module is executed; if it is not less than the preset guideable distance, the judgment module is executed.

9. The speed planning system for the guiding vehicle according to claim 7, characterized in that, The target information of the guide vehicle acquired by the perception module also includes: the first speed of the guide vehicle target; the planning module is also used to map the second speed of the virtual leader on the driving path in front of the guide vehicle according to the first speed, the first distance and the preset following distance, wherein the second speed = the first speed + speed variable, and the speed variable is determined by the first distance and the preset following distance.

10. The speed planning system for the guiding vehicle according to claim 9, characterized in that, The decision module is further configured to receive the second speed sent by the planning module and determine whether the second speed is greater than the first speed; if the second speed is greater than the first speed, the guiding speed is increased according to a preset value.

11. A storage medium storing a computer program, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-6.

12. A computer program product containing instructions, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the steps of the method as described in any one of claims 1-6.

13. An electronic device, comprising: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1-6.

14. A mobile tool, characterized in that, Includes the electronic device as described in claim 13.

Images