Speed planning method, device and equipment based on automatic driving, and storage medium

Abstract

The application provides a speed planning method and device based on automatic driving, equipment and a storage medium. The method comprises the following steps: obtaining obstacle information, driving information of a vehicle, and preset speed limit information of an environment in which the vehicle is located; the obstacle information comprises a current position and a current speed of an obstacle; the driving information comprises a current position and a current speed of the vehicle; the preset speed limit information represents a maximum speed at any position in the environment; target speed limit information is determined according to the obstacle information at the current time, the driving information of the vehicle at the current time, and the preset speed limit information; the target speed limit information represents a maximum speed allowed for the vehicle at any position in the environment; the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same position; speed planning information of the vehicle at the next time is determined according to the driving information of the vehicle at the current time and the target speed limit information; and the speed planning information is used for controlling automatic driving of the vehicle.

Description

Technical Field

[0001] This application relates to autonomous driving technology, and more particularly to a speed planning method, apparatus, device, and storage medium based on autonomous driving. Background Technology

[0002] When a vehicle is driving autonomously, it needs to plan based on information such as its current speed and location, and avoid obstacles on the road in a timely manner to ensure safe driving.

[0003] If a vehicle fails to avoid obstacles in time, it will seriously affect driving safety. Therefore, efficient planning of vehicle speed is a top priority in current autonomous driving research. Summary of the Invention

[0004] This application provides a speed planning method, apparatus, device, and storage medium based on autonomous driving, to improve the efficiency of speed planning.

[0005] Firstly, this application provides a speed planning method based on autonomous driving, including:

[0006] Obtain obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, the obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, the driving information includes the current position and current speed of the vehicle, and the preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined.

[0007] Based on the obstacle information at the current moment, the vehicle's driving information at the current moment, and the preset speed limit information of the vehicle's environment, the target speed limit information of the vehicle in the vehicle's environment is determined; wherein, the target speed limit information represents the maximum speed at which the vehicle is allowed to travel at any location in the environment, and the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location.

[0008] Based on the vehicle's driving information at the current moment and the target speed limit information, speed planning information for the vehicle at a preset moment is determined; wherein, the preset moment represents the next moment after the current moment, and the speed planning information includes the vehicle's speed, position, and acceleration, and the speed planning information is used to control the vehicle to perform autonomous driving.

[0009] Secondly, this application provides a speed planning device based on autonomous driving, comprising:

[0010] The information acquisition module is used to acquire obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, the obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, the driving information includes the current position and current speed of the vehicle, and the preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined.

[0011] The first determining module is used to determine the target speed limit information of the vehicle in the environment in which the vehicle is located, based on the obstacle information at the current time, the vehicle's driving information at the current time, and the preset speed limit information of the environment in which the vehicle is located; wherein, the target speed limit information represents the maximum speed at which the vehicle is allowed to drive at any location in the environment, and the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location.

[0012] The second determining module is used to determine the speed planning information of the vehicle at a preset time based on the vehicle's driving information at the current time and the target speed limit information; wherein the preset time represents the next time after the current time, and the speed planning information includes the vehicle's speed, position and acceleration, and the speed planning information is used to control the vehicle to perform autonomous driving.

[0013] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0014] The memory stores computer-executed instructions;

[0015] The processor executes computer execution instructions stored in the memory to implement the method as described in the first aspect of this application.

[0016] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in the first aspect of this application.

[0017] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect of this application.

[0018] This application provides a speed planning method, apparatus, device, and storage medium based on autonomous driving. By acquiring information about obstacles in front of the vehicle, the vehicle's driving information, and preset speed limit information of the vehicle's environment, the target speed limit information of the environment is determined. The preset speed limit information represents the maximum speed of the vehicle at any given location in the environment, while the target speed limit information represents the maximum speed allowed for the vehicle at any given location. The speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location. By determining the target speed limit information, the maximum speed can be updated based on the preset speed limit information, ensuring that the vehicle's speed does not exceed the maximum allowable speed when planning its speed. This improves the accuracy of speed planning, avoids collisions with obstacles due to excessive speed, and enhances driving safety. Based on the vehicle's current driving information and the target speed limit information, the speed planning information for the next moment is determined, thereby controlling the vehicle to drive autonomously according to the speed planning information. Furthermore, by determining the vehicle's position in real time based on the target speed limit information, dynamic speed planning is not required, effectively reducing computational load, improving the efficiency of speed planning, and thus enhancing driving safety. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] Figure 1 A flowchart illustrating a speed planning method based on autonomous driving, provided as an embodiment of this application;

[0021] Figure 2 A flowchart illustrating a speed planning method based on autonomous driving, provided as an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the preset speed limit information provided in the embodiments of this application;

[0023] Figure 4 A schematic diagram of the smoothed preset speed limit information provided in the embodiments of this application;

[0024] Figure 5a A schematic diagram showing an obstacle located above a curve, provided for an embodiment of this application;

[0025] Figure 5b A schematic diagram showing that the obstacle is located below the curve, as provided in the embodiments of this application;

[0026] Figure 6 This is a schematic diagram of the target speed limit information provided in the embodiments of this application;

[0027] Figure 7 A flowchart illustrating a speed planning method based on autonomous driving, provided as an embodiment of this application;

[0028] Figure 8a A schematic diagram of the relationship between the position and time of a vehicle provided in an embodiment of this application;

[0029] Figure 8b A schematic diagram of the relationship between vehicle speed and time provided in an embodiment of this application;

[0030] Figure 8c A schematic diagram illustrating the relationship between vehicle acceleration and time as provided in an embodiment of this application;

[0031] Figure 9a A schematic diagram of the relationship between the position and time of a vehicle provided in an embodiment of this application;

[0032] Figure 9b A schematic diagram of the relationship between vehicle speed and time provided in an embodiment of this application;

[0033] Figure 9c A schematic diagram illustrating the relationship between vehicle acceleration and time as provided in an embodiment of this application;

[0034] Figure 10 A structural block diagram of a speed planning device based on autonomous driving provided in an embodiment of this application;

[0035] Figure 11 A structural block diagram of a speed planning device based on autonomous driving provided in an embodiment of this application;

[0036] Figure 12 A structural block diagram of an electronic device provided in an embodiment of this application;

[0037] Figure 13 This is a structural block diagram of an electronic device provided in an embodiment of this application.

[0038] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0040] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0041] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0042] In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0043] It should be noted that, due to space limitations, this application specification does not exhaustively list all possible implementation methods. Those skilled in the art, after reading this application specification, should be able to deduce that, as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method. The following provides a detailed description of each embodiment.

[0044] Currently, speed planning for autonomous vehicles uses dynamic programming. Dynamic programming requires extensive searching of the vehicle's path, involves significant computation, and results vary greatly between frames, leading to unstable vehicle movement and inconsistent calculations that may not accurately reflect the vehicle's kinematics. Therefore, current speed planning methods are relatively slow and, in severe cases, may even compromise driving safety.

[0045] This application provides a speed planning method, apparatus, device, and storage medium based on autonomous driving, which aims to solve the above-mentioned technical problems in the prior art.

[0046] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0047] Figure 1 This is a flowchart illustrating a speed planning method based on autonomous driving, according to an embodiment of this application. This method can be executed by a speed planning device based on autonomous driving. Figure 1 As shown, the method includes the following steps:

[0048] S101. Obtain obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, driving information includes the current position and current speed of the vehicle, and preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined.

[0049] For example, when a vehicle is driving on a road, it can monitor the surrounding environment and its own driving status in real time, obtaining obstacle information, vehicle driving information, and preset speed limit information of the environment in which the vehicle is located at the current moment. Obstacle information can include the current position and current speed of obstacles. An obstacle refers to an object located in front of the vehicle, which can be a static obstacle or a dynamic obstacle. For example, an obstacle can be a building in front of the vehicle or a vehicle being driven in front of it. The vehicle can be equipped with monitoring equipment such as image acquisition devices to collect and identify obstacles in the environment, determining their position and speed. If the obstacle is a static obstacle, its current speed is 0. In this embodiment, the method of determining obstacle information is not specifically limited. Driving information can include the vehicle's own current position and current speed, which can be determined by sensors or other devices installed on the vehicle.

[0050] Preset speed limit information is predefined information that refers to the maximum speed a vehicle can travel at any given location in the environment. In other words, it's the prescribed speed limit for vehicles. The prescribed maximum speed may differ for different roads. For example, the prescribed maximum speed for a vehicle traveling on a road in front of a school is 30 km / h; the prescribed maximum speed for a vehicle traveling on a highway is 120 km / h. The speed limits for each road are stored as preset speed limit information. When a vehicle is traveling on a road, it can determine the preset speed limit information corresponding to the road it is currently traveling on, or it can determine the preset speed limits for each road the vehicle needs to pass through based on the navigation route.

[0051] In this embodiment, the method further includes: if an obstacle is detected in front of the vehicle, then a driving strategy for the vehicle to deal with the obstacle is determined based on a preset driving strategy determination algorithm; wherein the driving strategy is a following strategy or an overtaking strategy; if the driving strategy is determined to be a following strategy, then the obstacle information at the current moment, the vehicle's driving information at the current moment, and the preset speed limit information of the environment in which the vehicle is located are obtained.

[0052] Specifically, the vehicle can monitor the surrounding environment for obstacles in real time. If no obstacles are found, the vehicle continues driving normally; if obstacles are found, the vehicle's position relative to the vehicle is determined. If the obstacle is in front of the vehicle, a preset driving strategy determination algorithm is used to determine the vehicle's driving strategy towards the obstacle. The driving strategy can be a following strategy or an overtaking strategy. The driving strategy determination algorithm is used to determine whether the vehicle's driving strategy towards the obstacle is a following strategy or an overtaking strategy. For example, based on the driving strategy determination algorithm, a convex space can be created to make a yield (follow) or overtake (overtake) decision for key obstacles. In this embodiment, the driving strategy determination algorithm is not specifically limited. A following strategy means that the vehicle follows behind the obstacle, while an overtaking strategy means that the vehicle passes the obstacle. If the driving strategy is determined to be a following strategy, then obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the vehicle environment can be obtained, and then S102 and S103 can be executed. That is, this embodiment of the application can be used to execute the following strategy. If the driving strategy is determined to be an overtaking strategy, then the steps of this embodiment of the application are not executed. Obstacle information can be obtained, and the vehicle's driving speed can be increased according to the position and speed of the obstacle, and the vehicle can overtake the obstacle in the lane next to the lane where the obstacle is located. In this embodiment, the overtaking strategy is not specifically limited.

[0053] If the obstacle is not located in front of the vehicle, the steps of this embodiment are not executed, and the obstacle can be avoided based on a preset obstacle avoidance strategy. In this embodiment, the preset obstacle avoidance strategy is not specifically limited.

[0054] The beneficial effect of this configuration is that when an obstacle is located in front of the vehicle and the vehicle is following the obstacle, the steps of the embodiments of this application are executed to achieve targeted obstacle avoidance, improve the accuracy of obstacle avoidance, and thus enhance driving safety.

[0055] S102. Based on the obstacle information at the current moment, the vehicle's driving information at the current moment, and the preset speed limit information of the environment in which the vehicle is located, determine the target speed limit information of the vehicle in the environment; wherein, the target speed limit information represents the maximum speed at which the vehicle is allowed to travel at any location in the environment, and the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location.

[0056] For example, the preset speed limit information is a specified maximum speed. Based on the obstacle information at the current moment, the vehicle's driving information at the current moment, and the preset speed limit information of the vehicle's environment, it is also necessary to determine the target speed limit information of the vehicle in the vehicle's environment. The target speed limit information does not represent the specified speed limit information, but rather the calculated maximum speed at which the vehicle is allowed to travel at any location in the environment. The speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location. That is, when the vehicle is traveling, its speed must not only meet the requirements of the preset speed limit information, but also be less than or equal to the speed corresponding to the target speed limit information.

[0057] Based on obstacle information and the vehicle's driving information, the maximum permissible speed when following an obstacle can be determined. For example, if the obstacle is dynamic, the vehicle's maximum speed can be lower than the obstacle's speed to allow the vehicle to follow. Conversely, if the obstacle is static, the vehicle can be controlled to decelerate and stop before reaching the obstacle, and its current speed can be determined as the maximum permissible speed. The determined maximum speed is compared with the maximum speed limit information corresponding to the current road. If the determined maximum speed is less than or equal to the maximum speed limit information, it is set as the maximum speed limit information of the target road. If the determined maximum speed is greater than the maximum speed limit information, it is set as the maximum speed limit information of the target road.

[0058] S103. Based on the vehicle's current driving information and target speed limit information, determine the vehicle's speed planning information at a preset time. The preset time represents the next moment after the current time. The speed planning information includes the vehicle's speed, position, and acceleration. The speed planning information is used to control the vehicle for autonomous driving.

[0059] For example, based on the vehicle's current driving information and target speed limit information, the vehicle's speed planning information for a preset time can be predicted. The preset time can be the next moment after the current time. That is, the vehicle's future speed planning information can be predicted in real time. The speed planning information can include the vehicle's speed, position, and acceleration, etc. Based on the speed planning information, the vehicle can be controlled to perform autonomous driving. For example, the vehicle can be controlled to travel to the position specified in the speed planning information at the specified speed.

[0060] In this embodiment, the current speed in the driving information can be obtained, and it can be determined whether the current speed exceeds the target speed limit. If so, the vehicle's speed at the next moment is determined to be the speed represented by the target speed limit. The vehicle's position at the next moment is determined according to the speed represented by the target speed limit. If not, the current speed can be determined as the vehicle's speed at the next moment. The vehicle's position at the next moment is determined according to the current speed. Based on the vehicle's speed and position, the vehicle's acceleration can be calculated.

[0061] In addition, when driving, a vehicle needs to maintain a certain following distance from the vehicle in front. This following distance is related to the speed of the vehicle in front, and a one-dimensional lookup table of following distance and vehicle speed can be preset. The speed of the vehicle in front is obtained, and the corresponding following distance is retrieved from the one-dimensional lookup table. The faster the vehicle in front is, the greater the following distance should be.

[0062] This application provides a speed planning method based on autonomous driving. By acquiring information about obstacles in front of the vehicle, the vehicle's driving information, and preset speed limit information of the vehicle's environment, a target speed limit information for the environment is determined. The preset speed limit information represents the maximum speed allowed for the vehicle at any given location in the environment, while the target speed limit information represents the maximum speed allowed for the vehicle at any given location. The speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location. By determining the target speed limit information, the maximum speed can be updated based on the preset speed limit information, ensuring that the vehicle's speed does not exceed the allowed maximum speed during speed planning. This improves the accuracy of speed planning, avoids collisions with obstacles due to excessive speed, and enhances driving safety. Based on the vehicle's current driving information and the target speed limit information, the speed planning information for the next moment is determined, thereby controlling the vehicle to drive autonomously according to the speed planning information. Furthermore, by determining the vehicle's position in real time based on the target speed limit information, dynamic speed planning is not required, effectively reducing computational load, improving speed planning efficiency, and ultimately enhancing driving safety.

[0063] Figure 2 This is a flowchart illustrating a speed planning method based on autonomous driving, which is an optional embodiment based on the above embodiments.

[0064] In this embodiment, the target speed limit information of the vehicle in its current environment is determined based on the obstacle information at the current moment, the vehicle's current driving information at the current moment, and the preset speed limit information of the vehicle's environment. This can be further refined as follows: the required acceleration of the vehicle is determined based on the obstacle information at the current moment and the vehicle's current driving information at the current moment; wherein, the required acceleration represents the acceleration that the vehicle needs to reach when it reaches the current position of the obstacle; if the required acceleration is less than a preset acceleration threshold, the target speed limit information in the vehicle's environment is determined based on the required acceleration, the current position of the obstacle, the vehicle's current driving information at the current moment, and the preset speed limit information.

[0065] like Figure 2 The method includes the following steps:

[0066] S201. Obtain obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, driving information includes the current position and current speed of the vehicle, and preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined.

[0067] For example, this step can refer to step S101 above, and will not be repeated here.

[0068] S202. Based on the obstacle information and the vehicle's driving information at the current moment, determine the vehicle's required acceleration; wherein, the required acceleration represents the acceleration that the vehicle needs to achieve when it reaches the current position of the obstacle.

[0069] For example, the required acceleration of the vehicle is calculated based on the current position and velocity of the obstacle, as well as the current position and velocity of the vehicle itself. Required acceleration refers to the acceleration the vehicle needs to achieve to reach the current position of the obstacle. When determining the required acceleration, it can be assumed that the vehicle undergoes uniform deceleration relative to the obstacle, and that the vehicle eventually reaches the same state as the obstacle, meaning that the vehicle's final velocity and position are the same as the obstacle's velocity and position at the same time. A formula for calculating the required acceleration can be pre-set; the current position and velocity of the obstacle, as well as the current position and velocity of the vehicle itself, are substituted into the preset formula to obtain the vehicle's required acceleration.

[0070] In this embodiment, the required acceleration is determined according to the following formula:

[0071]

[0072] Among them, a req To accelerate demand, s e v represents the vehicle's current position. eLet s be the vehicle's current speed. b v represents the current position of the obstacle. b The current velocity of the obstacle.

[0073] Specifically, it is assumed that the vehicle decelerates uniformly towards the obstacle and eventually reaches the same state as the obstacle, meaning the vehicle's velocity and position are the same as the obstacle's. Based on this assumption, the distance between the vehicle and the obstacle can be obtained from their current positions. Subtracting the square of the vehicle's current velocity from the square of the obstacle's current velocity, and then dividing by twice the distance between the obstacle and the vehicle, yields the required acceleration. Using a pre-defined calculation formula, the required acceleration value for the vehicle can be quickly determined, enabling deceleration. This applies kinematic methods to vehicle movement planning, improving the efficiency of speed planning and reducing computational load.

[0074] S203. If the required acceleration is less than the preset acceleration threshold, then the target speed limit information of the vehicle in the environment is determined based on the required acceleration, the current position of the obstacle, the vehicle's driving information at the current moment, and the preset speed limit information.

[0075] For example, an acceleration threshold is preset. After obtaining the required acceleration, the required acceleration is compared with the acceleration threshold. If the required acceleration is equal to or greater than the preset acceleration threshold, the vehicle does not need to decelerate and continues to drive normally. If the required acceleration is less than the preset acceleration threshold, the target speed limit information for the vehicle in its environment is determined based on the required acceleration, the current position of the obstacle, the vehicle's driving information at the current moment, and the preset speed limit information.

[0076] Preset speed limit information refers to the maximum speed limit for vehicles on a road. On a single road, the maximum speed limit is a single value, but different roads may have different maximum speed limits. Figure 3 This is a schematic diagram of the preset speed limit information. Figure 3 In the diagram, the horizontal axis represents position s, the vertical axis represents velocity v, the length of each horizontal line represents the length of the corresponding road, and each horizontal line corresponds to a value on the vertical axis, which is the specified maximum speed. Figure 3 The SV curve is characterized by interval jumps, which allows for... Figure 3 The SV curve is smoothed. Figure 3 The horizontal line in the middle of the SV curve can be smoothed both forward and backward to obtain... Figure 4 The smoothed SV curve is shown. Figure 4This is a schematic diagram of the smoothed preset speed limit information curve. The smoothed SV curve changes continuously and uniformly. The preset acceleration threshold is a parameter used during the smoothing process; the acceleration threshold can be called the smoothed acceleration.

[0077] When an obstacle appears in front of the vehicle, the obstacle is indicated by information about its position and speed. Figure 4 In the SV curve diagram, when the obstacle is above or on the SV curve, the vehicle speed limit can be waived and the vehicle can drive normally; when the obstacle is below the SV curve, the target speed limit information for the vehicle in the environment can be determined based on the required acceleration, the current position of the obstacle, the vehicle's current driving information, and the preset speed limit information. Figure 5a This is a schematic diagram showing the obstacle located above the curve. Figure 5b This is a schematic diagram showing the obstacle located below the curve. Figure 5a In the middle, obstacles A and B are located above the SV curve; Figure 5b In the diagram, obstacles C and D are located below the SV curve. If the required acceleration is equal to or greater than the acceleration threshold, the obstacle is considered to be above the road speed limit SV curve; if the required acceleration is less than the acceleration threshold, the obstacle is considered to be below the road speed limit SV curve.

[0078] In this embodiment, the target speed limit information of the vehicle in its environment is determined based on the required acceleration, the current position of the obstacle, the vehicle's driving information at the current moment, and the preset speed limit information. This includes: determining the speed limit value of the vehicle at a preset position based on the required acceleration, the current position of the obstacle, and the vehicle's driving information at the current moment; wherein, the speed limit value at the preset position represents the maximum speed at which the vehicle is allowed to travel at any position between the vehicle and the obstacle; and determining the target speed limit information of the vehicle in its environment based on the preset speed limit information and the speed limit value of the vehicle at the preset position.

[0079] Specifically, the current position of the obstacle, the current position and speed of the vehicle are determined. Then, based on the calculated required acceleration, the speed limit for the vehicle at a preset position is determined. The preset position refers to any location between the vehicle and the obstacle; that is, any position the vehicle passes through on its journey to the obstacle. The speed limit is the calculated maximum permissible speed for the vehicle. The speed limit at the preset position is less than or equal to the maximum speed represented by the preset speed limit information corresponding to that preset position. A preset formula for calculating the speed limit can be used. By substituting the required acceleration, the current position of the obstacle, and the vehicle's travel information into the preset formula, the speed limit for the vehicle at the preset position can be obtained.

[0080] After obtaining the speed limit for the vehicle at a preset location, the preset speed limit information and the speed limit for the vehicle at the preset location are combined to obtain the target speed limit information for the vehicle's environment. The target speed limit information includes the speed limit for the vehicle at the preset location, as well as a portion of the preset speed limit information. The maximum speed value corresponding to the preset location in the preset speed information can be replaced with the calculated speed limit for the preset location.

[0081] Figure 6 A schematic diagram of the target speed limit information. Figure 6 The dashed line can replace the solid line at the corresponding position. The starting point of the dashed line corresponds to the position where the vehicle detects the obstacle. After passing the point where the obstacle is located, the dashed line extends horizontally backward until it intersects with the solid line. If it cannot intersect with the solid line, it extends horizontally backward to obtain the updated SV curve.

[0082] The advantage of this setup is that if an obstacle is located below the preset speed limit information curve, the preset speed limit information needs to be updated to obtain the target speed limit information. By using kinematic methods and abandoning the dynamic programming search scheme, planning can be completed through forward computation. The computational load is smaller than that of dynamic programming, and it is more in line with the vehicle's kinematic characteristics, thus improving the efficiency and accuracy of vehicle speed planning.

[0083] In this embodiment, the speed limit of the vehicle at the preset position is determined according to the following formula:

[0084]

[0085] Where v is the speed limit of the vehicle at the preset position, and Δs represents the distance difference between the current position of the vehicle and the current position of the obstacle.

[0086] Specifically, based on the current positions of the obstacle and the vehicle, the distance between them is determined as Δs. When calculating the speed limit, it can be assumed that the obstacle is moving at a constant speed, resulting in... Figure 6 The updated SV curve shown is calculated using a preset formula, effectively reducing computational load and better reflecting the vehicle's kinematic characteristics.

[0087] S204. Based on the vehicle's current driving information and target speed limit information, determine the vehicle's speed planning information at a preset time; wherein, the preset time represents the next time after the current time, and the speed planning information includes the vehicle's speed, position, and acceleration, and the speed planning information is used to control the vehicle to perform autonomous driving.

[0088] For example, this step can refer to step S103 above, and will not be repeated here.

[0089] This application provides a speed planning method based on autonomous driving. By acquiring information about obstacles in front of the vehicle, the vehicle's driving information, and preset speed limit information of the vehicle's environment, a target speed limit information for the environment is determined. The preset speed limit information represents the maximum speed allowed for the vehicle at any given location in the environment, while the target speed limit information represents the maximum speed allowed for the vehicle at any given location. The speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location. By determining the target speed limit information, the maximum speed can be updated based on the preset speed limit information, ensuring that the vehicle's speed does not exceed the allowed maximum speed during speed planning. This improves the accuracy of speed planning, avoids collisions with obstacles due to excessive speed, and enhances driving safety. Based on the vehicle's current driving information and the target speed limit information, the speed planning information for the next moment is determined, thereby controlling the vehicle to drive autonomously according to the speed planning information. Furthermore, by determining the vehicle's position in real time based on the target speed limit information, dynamic speed planning is not required, effectively reducing computational load, improving speed planning efficiency, and ultimately enhancing driving safety.

[0090] Figure 7 This is a flowchart illustrating a speed planning method based on autonomous driving, which is an optional embodiment based on the above embodiments.

[0091] In this embodiment, the speed planning information of the vehicle at a preset time is determined based on the vehicle's current driving information and target speed limit information. This can be further refined as follows: Based on the preset correlation between acceleration and speed, the acceleration associated with the vehicle's current speed is determined as the current acceleration; based on the current acceleration and the vehicle's current speed, the speed of the vehicle at the preset time is determined as the predicted speed; based on the predicted speed, the vehicle's current speed, and the vehicle's current position, the position of the vehicle at the preset time is determined as the predicted position; based on the target speed limit information, the maximum speed corresponding to the vehicle at the predicted position is determined; if the predicted speed is equal to or less than the maximum speed corresponding to the vehicle at the predicted position, then the speed planning information of the vehicle at the preset time is determined based on the predicted speed and the predicted position.

[0092] like Figure 7 The method includes the following steps:

[0093] S701. Obtain obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, driving information includes the current position and current speed of the vehicle, and preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined.

[0094] For example, this step can refer to step S101 above, and will not be repeated here.

[0095] S702. Based on the obstacle information at the current moment, the vehicle's driving information at the current moment, and the preset speed limit information of the environment in which the vehicle is located, determine the target speed limit information of the vehicle in the environment; wherein, the target speed limit information represents the maximum speed at which the vehicle is allowed to travel at any location in the environment, and the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location.

[0096] For example, this step can refer to step S102 above, and will not be repeated here.

[0097] S703. Based on the preset correlation between acceleration and speed, determine the acceleration associated with the vehicle's current speed, and use it as the current acceleration.

[0098] For example, a pre-defined relationship between acceleration and speed can be established, creating a fixed acceleration table where different driving speeds correspond to different accelerations. The vehicle's current speed is determined, and based on the pre-defined relationship, the acceleration corresponding to that speed is identified as the current acceleration. For instance, a fixed acceleration table can be used to obtain the current acceleration.

[0099] You can also set a functional relationship between velocity and acceleration, and calculate the current acceleration based on the preset functional relationship. For example, a now =f(v e ), where a now v is the current acceleration. e Let f be the vehicle's current speed, and let f be the function relating speed and acceleration.

[0100] S704. Based on the current acceleration and the current speed of the vehicle, determine the speed of the vehicle at a preset time, which is the predicted speed.

[0101] For example, a formula for calculating the predicted speed is preset. The predicted speed refers to the predicted speed of the vehicle at the next moment after the current moment, i.e., the preset moment is the next moment after the current moment. After determining the current acceleration, the current acceleration and the current speed of the vehicle can be substituted into the preset calculation formula to obtain the speed of the vehicle at the next moment, which is used as the predicted speed calculated in real time.

[0102] In this embodiment, the prediction speed is determined according to the following formula:

[0103] v next =v e +a nowdt;

[0104] Among them, v next To predict velocity, v e Let a be the vehicle's current speed. now This represents the current acceleration.

[0105] Specifically, the integral yields the vehicle's speed at the next moment, v. next This represents the vehicle's speed at the next moment. By using kinematic methods, the vehicle's speed can be predicted in real time, which better reflects the vehicle's kinematic characteristics, requires less computation, and improves the efficiency of speed planning.

[0106] S705. Based on the predicted speed, the vehicle's current speed, and the vehicle's current position, determine the vehicle's position at a preset time, which is the predicted position.

[0107] For example, after obtaining the predicted speed, the vehicle's position is then predicted, i.e., the vehicle's position at the next moment is determined as the predicted position. A calculation formula for determining the predicted position can be preset, and the predicted speed, the vehicle's current speed, and the vehicle's current position can be substituted into the formula to obtain the predicted position.

[0108] In this embodiment, the predicted position is determined according to the following formula:

[0109]

[0110] Among them, s next To predict the location, s e This is the vehicle's current location.

[0111] Specifically, the integral yields the vehicle's position at the next moment, s next This indicates the vehicle's position at the next moment, i.e., the predicted position.

[0112] S706. Based on the target speed limit information, determine the maximum speed of the vehicle at the predicted location.

[0113] For example, based on the target speed limit information, the speed corresponding to the predicted location can be determined, for instance, based on... Figure 6 The updated SV curve is used to determine the ordinate of the point corresponding to the predicted location, which is the maximum velocity value at that predicted location. For each predicted location, the corresponding maximum velocity value can be found in the updated SV curve; that is, each predicted velocity corresponds to a maximum velocity value.

[0114] S707. If the predicted speed is equal to or less than the maximum speed of the vehicle at the predicted position, then determine the speed planning information of the vehicle at the preset time based on the predicted speed and the predicted position.

[0115] For example, the maximum speed corresponding to the predicted position is determined as the target speed. The predicted speed is compared with the corresponding target speed. If the predicted speed is equal to or less than the target speed, the vehicle's speed planning information for a preset time is determined based on the predicted speed and predicted position. For example, the predicted speed can be determined as the vehicle's speed at the next time moment, and the predicted position can be determined as the vehicle's position at the next time moment. Furthermore, data such as the vehicle's acceleration can be calculated based on the predicted speed and predicted position. The vehicle can then travel according to the predicted speed and predicted position, ending the calculation for the current time moment and proceeding to the calculation for the next time moment.

[0116] In this embodiment, the obstacle can be a dynamic obstacle or a static obstacle. For dynamic obstacles, the vehicle can first accelerate at a constant speed and then move at a constant speed, that is, the vehicle can eventually follow the obstacle at a constant speed. Figure 8a This is a schematic diagram showing the relationship between the vehicle's position and time. Figure 8b This is a schematic diagram illustrating the relationship between vehicle speed and time. Figure 8c This is a schematic diagram showing the relationship between a vehicle's acceleration and time. Figure 8a In the diagram, the horizontal axis represents time, and the vertical axis represents position. The straight line at the top represents the movement of obstacles, and the curve at the bottom represents the movement of vehicles. The part before the dashed line represents the vehicle moving with uniform acceleration, and the part after the dashed line represents the vehicle moving with uniform speed. Figure 8b In the diagram, the horizontal axis represents time, and the vertical axis represents velocity. The area before the dashed line represents the vehicle's uniform acceleration, and the area after the dashed line represents the vehicle's uniform velocity. Figure 8c In the diagram, the horizontal axis represents time, and the vertical axis represents acceleration. The portion before the dashed line represents the vehicle's uniformly accelerated motion, while the portion after the dashed line represents the vehicle's uniform motion.

[0117] For static obstacles, the vehicle first decelerates uniformly and then comes to a stop. Figure 9a This is a schematic diagram showing the relationship between the vehicle's position and time. Figure 9b This is a schematic diagram illustrating the relationship between vehicle speed and time. Figure 9c This is a schematic diagram showing the relationship between a vehicle's acceleration and time. Figure 9a In the diagram, the horizontal axis represents time, and the vertical axis represents position. The straight line at the top represents a stationary obstacle, and the curve at the bottom represents the motion of the vehicle. The part before the dashed line represents the vehicle decelerating uniformly, and the part after the dashed line represents the vehicle being stationary. Figure 9b In the diagram, the horizontal axis represents time, and the vertical axis represents speed, with the vehicle speed gradually decreasing to 0. Figure 9c In the diagram, the horizontal axis represents time, and the vertical axis represents acceleration. The area before the dashed line represents the vehicle undergoing uniform deceleration, while the area after the dashed line represents the vehicle at rest.

[0118] In this embodiment, the method further includes: if the predicted speed is greater than the maximum speed corresponding to the vehicle at the predicted position, then updating the current acceleration based on the vehicle's current speed and the maximum speed corresponding to the vehicle at the predicted position; determining the vehicle's speed at a preset time as the new predicted speed based on the updated current acceleration and the vehicle's current speed; determining the vehicle's position at the preset time as the new predicted position based on the new predicted speed, the vehicle's current speed, and the vehicle's current position; and determining the vehicle's speed planning information at the preset time based on the new predicted speed and the new predicted position.

[0119] Specifically, if the predicted speed is greater than the corresponding target speed, it is determined that the predicted speed exceeds the maximum permissible speed, and the vehicle cannot be controlled according to the predicted speed; therefore, the current acceleration needs to be updated. A new current acceleration can be calculated based on the vehicle's current speed and the maximum speed corresponding to the vehicle at the predicted position. Then, S704 is repeated, that is, based on the updated current acceleration and the vehicle's current speed, the vehicle's speed at the preset time is determined as the new predicted speed. After obtaining the new predicted speed, S705 is executed, that is, based on the new predicted speed, the vehicle's current speed, and the vehicle's current position, the vehicle's position at the preset time is determined as the new predicted position. After obtaining the new predicted position, the vehicle's speed planning information at the preset time is determined based on the new predicted speed and the new predicted position. The new predicted speed can be determined as the vehicle's speed at the next time step, and the new predicted position can be determined as the vehicle's position at the next time step, thus obtaining the vehicle's speed planning information for the next time step.

[0120] The advantage of this design is that if the vehicle's speed exceeds the permissible speed limit in the next moment, the calculation is recalculated to ensure the vehicle travels safely within the permitted speed range, allowing it to follow obstacles at a constant speed and maintaining a certain following distance. This is more in line with vehicle kinematics, requires less calculation, avoids sudden acceleration changes, and improves passenger comfort.

[0121] In this embodiment, the current acceleration is updated according to the following formula:

[0122]

[0123] Among them, a , now For the updated current acceleration, v limit v represents the maximum speed of the vehicle at the predicted location. e This represents the vehicle's current speed.

[0124] Specifically, v limitTo predict the target velocity at a given position, a new current acceleration is obtained through integral calculation, thus applying kinematic methods to velocity planning. The calculation process is fast, improving the efficiency of velocity planning.

[0125] This application provides a speed planning method based on autonomous driving. By acquiring information about obstacles in front of the vehicle, the vehicle's driving information, and preset speed limit information of the vehicle's environment, a target speed limit information for the environment is determined. The preset speed limit information represents the maximum speed allowed for the vehicle at any given location in the environment, while the target speed limit information represents the maximum speed allowed for the vehicle at any given location. The speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location. By determining the target speed limit information, the maximum speed can be updated based on the preset speed limit information, ensuring that the vehicle's speed does not exceed the allowed maximum speed during speed planning. This improves the accuracy of speed planning, avoids collisions with obstacles due to excessive speed, and enhances driving safety. Based on the vehicle's current driving information and the target speed limit information, the speed planning information for the next moment is determined, thereby controlling the vehicle to drive autonomously according to the speed planning information. Furthermore, by determining the vehicle's position in real time based on the target speed limit information, dynamic speed planning is not required, effectively reducing computational load, improving speed planning efficiency, and ultimately enhancing driving safety.

[0126] Figure 10 This is a structural block diagram of a speed planning device based on autonomous driving, provided as an embodiment of this application. For ease of explanation, only the parts relevant to the embodiments of this disclosure are shown. (Refer to...) Figure 10 The device includes: an information acquisition module 1001, a first determination module 1002, and a second determination module 1003.

[0127] The information acquisition module 1001 is used to acquire obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, the obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, the driving information includes the current position and current speed of the vehicle, and the preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined.

[0128] The first determining module 1002 is used to determine the target speed limit information of the vehicle in the environment in which the vehicle is located, based on the obstacle information at the current time, the vehicle's driving information at the current time, and the preset speed limit information of the environment in which the vehicle is located; wherein, the target speed limit information represents the maximum speed at which the vehicle is allowed to drive at any location in the environment, and the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same location.

[0129] The second determining module 1003 is used to determine the speed planning information of the vehicle at a preset time based on the vehicle's driving information at the current time and the target speed limit information; wherein the preset time represents the next time after the current time, the speed planning information includes the vehicle's speed, position and acceleration, and the speed planning information is used to control the vehicle to perform autonomous driving.

[0130] Figure 11 This application provides a structural block diagram of a speed planning device based on autonomous driving, in which... Figure 10 Based on the illustrated embodiments, as Figure 11 As shown, the first determining module 1002 includes a first determining unit 1021 and a second determining unit 1022.

[0131] The first determining unit 1021 is used to determine the required acceleration of the vehicle based on the obstacle information at the current time and the vehicle's driving information at the current time; wherein the required acceleration represents the acceleration that the vehicle needs to achieve when it reaches the current position of the obstacle.

[0132] The second determining unit 1022 is used to determine the target speed limit information of the vehicle in the environment where the vehicle is located, based on the required acceleration, the current position of the obstacle, the driving information of the vehicle at the current moment, and the preset speed limit information, if the required acceleration is less than a preset acceleration threshold.

[0133] In one example, the required acceleration is determined according to the following formula:

[0134]

[0135] Among them, a req To accelerate the aforementioned demand, s e v represents the current position of the vehicle. e Let s be the current speed of the vehicle. b v represents the current position of the obstacle. b The current velocity of the obstacle.

[0136] In one example, the second determining unit 1022 is specifically used for:

[0137] Based on the required acceleration, the current position of the obstacle, and the vehicle's driving information at the current moment, a speed limit for the vehicle at a preset position is determined; wherein, the speed limit at the preset position represents the maximum speed at which the vehicle is allowed to travel at any position between the vehicle and the obstacle;

[0138] Based on the preset speed limit information and the speed limit of the vehicle at the preset location, the target speed limit information of the vehicle in the environment where the vehicle is located is determined.

[0139] In one example, the speed limit of the vehicle at a preset position is determined according to the following formula:

[0140]

[0141] Where v is the speed limit of the vehicle at the preset position, and Δs represents the distance difference between the current position of the vehicle and the current position of the obstacle.

[0142] In one example, the second determining module 1003 includes:

[0143] An acceleration determination unit is used to determine the acceleration associated with the current speed of the vehicle, based on a preset correlation between acceleration and speed, and to define it as the current acceleration.

[0144] A speed prediction unit is used to determine the speed of the vehicle at a preset time based on the current acceleration and the current speed of the vehicle, which is the predicted speed.

[0145] A position prediction unit is used to determine the position of the vehicle at the preset time based on the predicted speed, the current speed of the vehicle, and the current position of the vehicle, which is the predicted position.

[0146] The maximum value determination unit is used to determine the maximum speed of the vehicle at the predicted position based on the target speed limit information.

[0147] An information determination unit is used to determine the speed planning information of the vehicle at a preset time based on the predicted speed and the predicted position if the predicted speed is equal to or less than the maximum speed value of the vehicle at the predicted position.

[0148] In one example, the predicted velocity is determined according to the following formula:

[0149] v next =v e +a now dt;

[0150] Among them, v next For the predicted velocity, v e Let a be the current speed of the vehicle. now The current acceleration is given.

[0151] In one example, the predicted location is determined according to the following formula:

[0152]

[0153] Among them, s next For the predicted location, s e This is the current location of the vehicle.

[0154] In one example, the second determining module 1003 further includes:

[0155] An acceleration update unit is used to update the current acceleration based on the vehicle's current speed and the maximum speed corresponding to the vehicle at the predicted position if the predicted speed is greater than the maximum speed corresponding to the vehicle at the predicted position.

[0156] A speed update unit is used to determine the vehicle's speed at the preset time based on the updated current acceleration and the vehicle's current speed, thus setting a new predicted speed.

[0157] The position update unit is used to determine the position of the vehicle at the preset time based on the new predicted speed, the current speed of the vehicle, and the current position of the vehicle, which is the new predicted position.

[0158] The information update unit is used to determine the speed planning information of the vehicle at a preset time based on the new predicted speed and the new predicted position.

[0159] In one example, the current acceleration is updated according to the following formula:

[0160]

[0161] Among them, a , now For the updated current acceleration, v limit v is the maximum speed of the vehicle at the predicted position. e The current speed of the vehicle.

[0162] In one example, the device also includes:

[0163] The strategy determination module is used to determine the vehicle's driving strategy towards the obstacle based on a preset driving strategy determination algorithm if an obstacle is detected in front of the vehicle; wherein the driving strategy is a following strategy or an overtaking strategy.

[0164] The follow module is used to, if the driving strategy is determined to be a follow strategy, execute the process of obtaining obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the vehicle's environment.

[0165] Figure 12 A structural block diagram of an electronic device provided in an embodiment of this application, such as... Figure 12 As shown, the electronic device includes: a memory 121 and a processor 122; the memory 121 is a memory used to store instructions executable by the processor 122.

[0166] The processor 122 is configured to perform the method provided in the above embodiments.

[0167] The electronic device also includes a receiver 123 and a transmitter 124. The receiver 123 is used to receive instructions and data sent by other devices, and the transmitter 124 is used to send instructions and data to external devices.

[0168] Figure 13 This is a structural block diagram of an electronic device according to an exemplary embodiment. The device may be a vehicle, mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0169] Device 1300 may include one or more of the following components: processing component 1302, memory 1304, power supply component 1306, multimedia component 1308, audio component 1310, input / output (I / O) interface 1312, sensor component 1314, and communication component 1316.

[0170] Processing component 1302 typically controls the overall operation of device 1300, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 1302 may include one or more processors 1320 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 1302 may include one or more modules to facilitate interaction between processing component 1302 and other components. For example, processing component 1302 may include a multimedia module to facilitate interaction between multimedia component 1308 and processing component 1302.

[0171] Memory 1304 is configured to store various types of data to support the operation of device 1300. Examples of this data include instructions for any application or method operating on device 1300, contact data, phonebook data, messages, pictures, videos, etc. Memory 1304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0172] Power supply component 1306 provides power to various components of device 1300. Power supply component 1306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 1300.

[0173] Multimedia component 1308 includes a screen that provides an output interface between the device 1300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 1308 includes a front-facing camera and / or a rear-facing camera. When the device 1300 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0174] Audio component 1310 is configured to output and / or input audio signals. For example, audio component 1310 includes a microphone (MIC) configured to receive external audio signals when device 1300 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 1304 or transmitted via communication component 1316. In some embodiments, audio component 1310 also includes a speaker for outputting audio signals.

[0175] I / O interface 1312 provides an interface between processing component 1302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0176] Sensor assembly 1314 includes one or more sensors for providing status assessments of various aspects of device 1300. For example, sensor assembly 1314 may detect the on / off state of device 1300, the relative positioning of components such as the display and keypad of device 1300, changes in the position of device 1300 or a component of device 1300, the presence or absence of user contact with device 1300, the orientation or acceleration / deceleration of device 1300, and temperature changes of device 1300. Sensor assembly 1314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1314 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0177] Communication component 1316 is configured to facilitate wired or wireless communication between device 1300 and other devices. Device 1300 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 1316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1316 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0178] In an exemplary embodiment, device 1300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0179] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1304 including instructions, which can be executed by a processor 1320 of device 1300 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0180] A non-transitory computer-readable storage medium, wherein when the instructions in the storage medium are executed by the processor of a terminal device, the terminal device is able to execute the aforementioned speed planning method based on autonomous driving.

[0181] This application also discloses a computer program product, including a computer program that, when executed by a processor, implements the method described in this embodiment.

[0182] Various embodiments of the systems and technologies described above in this application can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0183] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or electronic device.

[0184] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0185] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0186] The systems and technologies described herein can be implemented in computing systems that include back-end components (e.g., as data electronic devices), or computing systems that include middleware components (e.g., application electronic devices), or computing systems that include front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0187] Computer systems can include client and electronic devices. Clients and electronic devices are generally geographically separated and typically interact via communication networks. The client-electronic device relationship is created by computer programs running on the respective computers and having a client-electronic device relationship with each other. The electronic device can be a cloud electronic device, also known as a cloud computing electronic device or cloud host, a host product within the cloud computing service system, addressing the shortcomings of traditional physical hosts and VPS services ("Virtual Private Server," or simply "VPS") in terms of management difficulty and weak business scalability. The electronic device can also be an electronic device in a distributed system or an electronic device incorporating blockchain technology. It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application is achieved, and this is not limited herein.

[0188] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0189] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A speed planning method based on autonomous driving, characterized in that, include: Obtain obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, the obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, the driving information includes the current position and current speed of the vehicle, and the preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined. Based on the obstacle information and the vehicle's driving information at the current moment, the required acceleration of the vehicle is determined; wherein, the required acceleration represents the acceleration that the vehicle needs to achieve when reaching the current position of the obstacle; if the required acceleration is less than a preset acceleration threshold, then based on the required acceleration, the current position of the obstacle, and the vehicle's driving information at the current moment, a speed limit for the vehicle at a preset position is determined; wherein, the speed limit at the preset position represents the maximum speed at which the vehicle is allowed to travel at any position between the vehicle and the obstacle; based on the preset speed limit information and the speed limit at the preset position, a target speed limit information for the vehicle in the environment in which the vehicle is located is determined; wherein, the target speed limit information represents the maximum speed at which the vehicle is allowed to travel at any position in the environment, and the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same position. The required acceleration is determined according to the following formula: ； in, To accelerate the aforementioned demand, The current position of the vehicle. The current speed of the vehicle. The current position of the obstacle. The current velocity of the obstacle; Based on the vehicle's driving information at the current moment and the target speed limit information, speed planning information for the vehicle at a preset moment is determined; wherein, the preset moment represents the next moment after the current moment, and the speed planning information includes the vehicle's speed, position, and acceleration, and the speed planning information is used to control the vehicle to perform autonomous driving.

2. The method according to claim 1, characterized in that, The speed limit of the vehicle at the preset position is determined according to the following formula: ； Where v is the speed limit of the vehicle at the preset position. This represents the distance difference between the current position of the vehicle and the current position of the obstacle.

3. The method according to claim 1, characterized in that, Based on the vehicle's driving information at the current moment and the target speed limit information, determine the vehicle's speed planning information at a preset time, including: Based on the preset correlation between acceleration and velocity, determine the acceleration associated with the current velocity of the vehicle, which is the current acceleration; Based on the current acceleration and the current speed of the vehicle, the speed of the vehicle at the preset time is determined as the predicted speed; Based on the predicted speed, the vehicle's current speed, and the vehicle's current position, the position of the vehicle at the preset time is determined as the predicted position; Based on the target speed limit information, determine the maximum speed of the vehicle at the predicted location; If the predicted speed is equal to or less than the maximum speed of the vehicle at the predicted position, then the speed planning information of the vehicle at the preset time is determined based on the predicted speed and the predicted position.

4. The method according to claim 3, characterized in that, The predicted velocity is determined according to the following formula: ； in, For the predicted speed, The current speed of the vehicle. The current acceleration is given.

5. The method according to claim 4, characterized in that, The predicted location is determined according to the following formula: ； in, For the predicted location, This is the current location of the vehicle.

6. The method according to claim 3, characterized in that, Also includes: If the predicted speed is greater than the maximum speed of the vehicle at the predicted position, then the current acceleration is updated based on the vehicle's current speed and the maximum speed of the vehicle at the predicted position. Based on the updated current acceleration and the vehicle's current speed, the vehicle's speed at the preset time is determined as the new predicted speed. Based on the new predicted speed, the vehicle's current speed, and the vehicle's current position, the position of the vehicle at the preset time is determined as the new predicted position; Based on the new predicted speed and the new predicted position, determine the vehicle's speed planning information at a preset time.

7. The method according to claim 6, characterized in that, The current acceleration is updated according to the following formula: ； in, The updated current acceleration, This represents the maximum speed of the vehicle at the predicted location. The current speed of the vehicle.

8. The method according to any one of claims 1-7, characterized in that, Also includes: If an obstacle is detected in front of the vehicle, the vehicle's driving strategy for the obstacle is determined based on a preset driving strategy determination algorithm; wherein the driving strategy is a following strategy or an overtaking strategy. If the driving strategy is determined to be a follow strategy, then the following steps are performed: obtaining the obstacle information at the current moment, the vehicle's driving information at the current moment, and the preset speed limit information of the vehicle's environment.

9. A speed planning device based on autonomous driving, characterized in that, include: The information acquisition module is used to acquire obstacle information at the current moment, vehicle driving information at the current moment, and preset speed limit information of the environment in which the vehicle is located; wherein, the obstacle information includes the current position and current speed of the obstacle, the obstacle is located in front of the vehicle, the driving information includes the current position and current speed of the vehicle, and the preset speed limit information represents the maximum speed of the vehicle at any position in the environment as predetermined. The first determining module is configured to determine the vehicle's required acceleration based on the obstacle information and the vehicle's driving information at the current moment; wherein the required acceleration represents the acceleration that the vehicle needs to achieve when reaching the current position of the obstacle; if the required acceleration is less than a preset acceleration threshold, then a speed limit for the vehicle at a preset position is determined based on the required acceleration, the current position of the obstacle, and the vehicle's driving information at the current moment; wherein the speed limit at the preset position represents the maximum speed at which the vehicle is allowed to travel at any position between the vehicle and the obstacle; and a target speed limit for the vehicle in the environment where the vehicle is located is determined based on the preset speed limit information and the speed limit for the vehicle at the preset position; wherein the target speed limit information represents the maximum speed at which the vehicle is allowed to travel at any position in the environment, and the speed represented by the target speed limit information is less than or equal to the speed represented by the preset speed limit information at the same position; the required acceleration is determined according to the following formula: ； in, To accelerate the aforementioned demand, The current position of the vehicle. The current speed of the vehicle. The current position of the obstacle. The current velocity of the obstacle; The second determining module is used to determine the speed planning information of the vehicle at a preset time based on the vehicle's driving information at the current time and the target speed limit information; wherein the preset time represents the next time after the current time, and the speed planning information includes the vehicle's speed, position and acceleration, and the speed planning information is used to control the vehicle to perform autonomous driving.

10. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-7.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7.

12. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-8.

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