Automatic driving planning method and device based on kinematic model, equipment and medium

Abstract

The invention provides an automatic driving planning method and device based on a kinematic model, equipment and a medium, and relates to the technical field of automatic driving planning. In the application, firstly, current driving state information of a target vehicle is obtained, and the current driving state information at least comprises state information of the target vehicle and state information of a road where the target vehicle is located; secondly, on the basis of the current driving state information and a pre-constructed vehicle kinematic model, target vehicle driving planning information is determined, and the vehicle kinematic model comprises a function mapping relation between the driving state information of the vehicle and driving planning parameters of the vehicle; the driving planning parameters at least comprise a driving planning speed and / or a driving planning acceleration. Based on the above content, the problem that the reliability of driving planning is relatively low in the prior art can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of autonomous driving planning, and more specifically, to an autonomous driving planning method and apparatus, device and medium based on a kinematic model. Background Art

[0002] The autonomous driving system is a real-time processing system with extremely stringent requirements on safety, accuracy and stability. The current popular end-to-end architecture has made great progress in anthropomorphic driving, but there are still great challenges in terms of safety, accuracy and stability, and it is difficult to meet the commercialization needs of autonomous driving above Level 4.

[0003] At present, the mainstream solution in the industry is still a waterfall architecture based on modules such as perception, positioning, mapping, prediction, planning, and control. The planning module is divided into two sub-modules: behavior decision and trajectory planning. The behavior decision sub-module is used to generate various driving decisions such as parking, lane change, and yielding based on traffic rules or scheduling systems. The trajectory planning sub-module is used to generate a local driving trajectory that conforms to the vehicle's kinematics and dynamics (the trajectory is a sequence of path points containing information such as speed and acceleration). Among them, trajectory planning includes two methods: spatio-temporal joint planning and spatio-temporal decoupling planning. In the application of the spatio-temporal joint planning algorithm, the path and speed curve are used as variables of the optimization problem at the same time, and the optimal trajectory is directly solved in the xyt three-dimensional space, rather than the optimal speed under a given path, or the optimal path under a given speed curve. This algorithm has high requirements for computing resources, so the real-time performance is relatively poor, that is, the reliability is relatively low. In addition, the time-space separation planning algorithm often has no solution when solving the speed curve. This defect is fatal to the autonomous driving system with extremely high requirements for safety and real-time performance, that is, there is also a problem of relatively low reliability. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide an automatic driving planning method and apparatus, equipment and medium based on a kinematic model to improve the problem of relatively low reliability of driving planning existing in the prior art.

[0005] To achieve the above objectives, this application adopts the following technical solutions: An automatic driving planning method based on a kinematic model, comprising: Acquire current driving state information of the target vehicle, wherein the current driving state information at least includes state information of the target vehicle itself and state information of the road where the target vehicle is located; Based on the current driving state information and a pre-constructed vehicle kinematic model, the corresponding target vehicle driving planning information is determined, wherein the vehicle kinematic model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters, the driving planning parameters at least include a driving planning speed and / or a driving planning acceleration, and the target vehicle driving planning information includes driving planning parameters, and the target vehicle driving planning information serves as a basis for the target vehicle's driving.

[0006] In a preferred embodiment of the present application, in the above-mentioned kinematic model-based automatic driving planning method, the step of determining the corresponding target vehicle driving planning information based on the current driving state information and the pre-built vehicle kinematic model includes: Based on at least part of the current driving state information, determining a matching target vehicle kinematic sub-model in a pre-constructed vehicle kinematic model, wherein the vehicle kinematic model includes at least one vehicle kinematic sub-model, and the vehicle kinematic sub-model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters; Based on at least part of the current driving state information and the target vehicle kinematic sub-model, corresponding target vehicle driving planning information is determined.

[0007] In a preferred embodiment of the present application, in the above-mentioned kinematic model-based automatic driving planning method, the step of determining a matching target vehicle kinematic submodel in a pre-constructed vehicle kinematic model based on at least part of the current driving state information includes: Based on the state information of the road where the target vehicle is located in the current driving state information, determining whether there is an obstacle on the road where the target vehicle is located, wherein the obstacle refers to an object that has an obstructive effect on the driving of the target vehicle; When there is an obstacle on the road where the target vehicle is located, determining whether the target vehicle should bypass the obstacle; When the target vehicle does not perform a detour process on the obstacle, determine whether the target vehicle is currently in a speed-limited cruise state based on the state information of the target vehicle itself in the current driving state information, and when the target vehicle is currently in the speed-limited cruise state, determine the first vehicle kinematics sub-model in the pre-constructed vehicle kinematics model as a matching target vehicle kinematics sub-model, and, when the target vehicle is not currently in the speed-limited cruise state, determine the second vehicle kinematics sub-model in the pre-constructed vehicle kinematics model as a matching target vehicle kinematics sub-model; When the target vehicle chooses to bypass the obstacle or there is no obstacle on the road where the target vehicle is located, based on the state information of the target vehicle itself and the state information of the road where the target vehicle is located, a matching target vehicle kinematic submodel is determined from among a first vehicle kinematic submodel, a second vehicle kinematic submodel, a third vehicle kinematic submodel and a fourth vehicle kinematic submodel included in a pre-constructed vehicle kinematic model, wherein the state information of the target vehicle itself includes a current speed and a current acceleration, the state information of the road where the target vehicle is located includes speed limit information of the road where the target vehicle is located, and different function mapping relationships exist among the first vehicle kinematic submodel, the second vehicle kinematic submodel, the third vehicle kinematic submodel and the fourth vehicle kinematic submodel.

[0008] In a preferred embodiment of the present application, in the above-mentioned kinematic model-based automatic driving planning method, the step of determining the corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model includes: When the target vehicle kinematics sub-model belongs to the first vehicle kinematics sub-model, determining a magnitude relationship between a current speed included in the state information of the target vehicle itself in the current driving state information and a first speed limit speed of a road where the target vehicle is located, the road where the target vehicle is located also has a second speed limit speed that is less than the first speed limit speed, and the driving direction of the target vehicle is from a position corresponding to the first speed limit speed to a position corresponding to the second speed limit speed; When the current speed of the target vehicle is equal to the first speed limit, the current speed of the target vehicle is used as the driving planning speed to determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and based on the current speed of the target vehicle and the mapping relationship between the partial functions related to deceleration in the second vehicle kinematic submodel, the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit is determined, wherein the target vehicle driving planning information includes the first local vehicle driving planning information and the second local vehicle driving planning information; When the current speed of the target vehicle is less than or equal to the first speed limit, if the distance between the current position of the target vehicle and the starting position of the second speed limit is less than a predetermined first reference distance, the current speed of the target vehicle is used as the driving planning speed to determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and, based on the current speed of the target vehicle and the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model, determine the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit; if the distance between the current position of the target vehicle and the starting position of the second speed limit is greater than the first reference distance, based on the current speed of the target vehicle and the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and, based on the first speed limit and the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model, determine the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit; When the current speed of the target vehicle is greater than the first speed limit, first local vehicle driving planning information required for the target vehicle at a position corresponding to the first speed limit is determined based on a mapping relationship between the current speed of the target vehicle and a partial function related to deceleration in the fourth vehicle kinematics submodel, and second local vehicle driving planning information required for the target vehicle at a position corresponding to the second speed limit is determined based on a mapping relationship between the first speed limit and a partial function related to deceleration in the second vehicle kinematics submodel.

[0009] In a preferred embodiment of the present application, in the above-mentioned kinematic model-based automatic driving planning method, the step of determining the corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model includes: When the target vehicle kinematics sub-model belongs to the second vehicle kinematics sub-model, determining an initial speed limit speed and a target speed limit speed, and obtaining distance information from a position corresponding to the initial speed limit speed to a position corresponding to the target speed limit speed, wherein the initial speed limit speed is greater than the target speed limit speed, the target speed limit speed is greater than or equal to zero, and the target speed limit speed is determined based on speed limit information of a road where the target vehicle is located or whether there is an obstacle; Based on the speed limit initial speed, the speed limit target speed and the distance information between the position corresponding to the speed limit initial speed and the position corresponding to the speed limit target speed, determining the actual maximum deceleration required to decelerate the speed limit initial speed to the speed limit target speed, and comparing the actual maximum deceleration with a predetermined reference maximum deceleration of the target vehicle, wherein the deceleration refers to an acceleration that is a negative value; If the actual maximum deceleration is less than the reference maximum deceleration, the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding target vehicle driving plan information, so that the target vehicle decelerates from the speed limit initial speed to the speed limit target speed based on the target vehicle driving plan information; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the actual maximum deceleration, the actual maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding target vehicle driving plan information, so that the target vehicle decelerates from the speed limit initial speed to the speed limit target speed based on the target vehicle driving plan information; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is equal to the speed limit initial speed, the current deceleration of the target vehicle is greater than the actual maximum deceleration, or the current speed of the target vehicle is greater than the speed limit initial speed, then the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding third local vehicle driving plan information, and, based on the driving plan speed, the latest actual maximum deceleration required to decelerate the driving plan speed to the speed limit target speed is determined, and the latest actual maximum deceleration is compared with the reference maximum deceleration, and when the latest actual maximum deceleration is greater than or equal to the reference maximum deceleration, the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the latest actual maximum deceleration, Then the latest actual maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding fourth local vehicle driving plan information, or, when the conditions that the latest actual maximum deceleration is greater than or equal to the reference maximum deceleration, the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the latest actual maximum deceleration are not satisfied, the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding fourth local vehicle driving plan information, wherein the direction from the position corresponding to the third local vehicle driving plan information to the position corresponding to the fourth local vehicle driving information is the driving direction of the target vehicle, and the target vehicle driving plan information at least includes the third local vehicle driving plan information and the fourth local vehicle driving plan information; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is less than the speed limit initial speed, the step of determining the actual maximum deceleration required to decelerate the speed limit initial speed to the speed limit target speed based on the speed limit initial speed, the speed limit target speed and the distance information from the position corresponding to the speed limit initial speed to the position corresponding to the speed limit target speed, and comparing the actual maximum deceleration with a predetermined reference maximum deceleration of the target vehicle is executed, and when executing this step, the speed limit initial speed in this step is updated to the current speed of the target vehicle.

[0010] In a preferred embodiment of the present application, in the above-mentioned kinematic model-based automatic driving planning method, the step of determining the corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model includes: When the target vehicle kinematics submodel belongs to the third vehicle kinematics submodel, if the current speed of the target vehicle is equal to the first speed limit, the current speed of the target vehicle is used as the travel planning speed to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the travel planning speed in the fifth local vehicle driving information is accelerated to the second speed limit to obtain the corresponding sixth local vehicle driving information, wherein the second speed limit is greater than the first speed limit, the first speed limit is greater than zero, and the direction from the position corresponding to the first speed limit to the position corresponding to the second speed limit is the driving direction of the target vehicle; If the current speed of the target vehicle is greater than the first speed limit, determine whether the target distance between the current position of the target vehicle and the target position is greater than a predetermined distance threshold, and when the target distance is not greater than the distance threshold, use the current speed of the target vehicle as the travel planning speed to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, accelerate the travel planning speed in the fifth local vehicle driving information to the second speed limit to obtain the corresponding sixth local vehicle driving information, or, when the target distance is greater than the distance threshold, based on the partial function mapping relationship related to deceleration in the fourth vehicle kinematics sub-model, decelerate the current speed of the target vehicle to the first speed limit to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, accelerate the travel planning speed equal to the first speed limit in the fifth local vehicle driving information to the second speed limit to obtain the corresponding sixth local vehicle driving information; If the current speed of the target vehicle is less than the first speed limit, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the current speed of the target vehicle is accelerated to the first speed limit to obtain corresponding fifth local vehicle driving information; and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the driving planned speed in the fifth local vehicle driving information that is equal to the first speed limit is accelerated to the second speed limit to obtain corresponding sixth local vehicle driving information.

[0011] In a preferred embodiment of the present application, in the above-mentioned kinematic model-based automatic driving planning method, the step of determining the corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model includes: When the target vehicle kinematics sub-model belongs to the fourth vehicle kinematics sub-model, if the current speed of the target vehicle is equal to the target speed limit, the current speed of the target vehicle is used as the driving planning speed to obtain the corresponding target vehicle driving planning information; If the current speed of the target vehicle is greater than the target speed limit, a first target time for decelerating the current speed of the target vehicle to the target speed limit is determined based on the current speed of the target vehicle, the target speed limit, the current acceleration of the target vehicle and the maximum deceleration of the target vehicle, and an actual deceleration of the target vehicle when decelerating the current speed to the target speed limit is determined based on the first target time, the current acceleration of the target vehicle and the maximum deceleration of the target vehicle, and a magnitude relationship between the actual deceleration and the maximum deceleration of the target vehicle is determined; When the actual deceleration is greater than or equal to the maximum deceleration, the driving plan acceleration of the target vehicle is determined based on the current acceleration and the maximum deceleration of the target vehicle, and the driving plan speed is determined based on the driving plan acceleration to obtain the driving plan information of the target vehicle. When the actual deceleration is less than the maximum deceleration, the first deceleration time for reducing the current acceleration of the target vehicle to the maximum deceleration is determined based on the current acceleration, the maximum deceleration and the maximum deceleration of the target vehicle, and the target speed of the target vehicle after reaching the first deceleration time is determined, and the target speed of the target vehicle after reaching the first deceleration time is determined based on the first deceleration time, the target speed, the target speed limit and the maximum deceleration. A second deceleration time is determined for decelerating the current speed of the target vehicle to the target speed, and a driving planning acceleration of the target vehicle is determined based on the current acceleration and the maximum deceleration of the target vehicle, and a driving planning speed is determined based on the driving planning acceleration to obtain seventh local vehicle driving planning information corresponding to the first deceleration time, and the maximum deceleration is used as the driving planning acceleration, and a driving planning speed is determined based on the driving planning acceleration to obtain eighth local vehicle driving planning information corresponding to the second deceleration time, wherein the eighth local vehicle driving planning information refers to the local vehicle driving planning information after reaching the first deceleration time and before reaching the second deceleration time; If the current speed of the target vehicle is less than the target speed limit, a second target time for accelerating the current speed of the target vehicle to the target speed limit is determined based on the current speed of the target vehicle, the target speed limit, the current acceleration of the target vehicle, and the maximum jerk of the target vehicle, and an actual acceleration of the target vehicle when accelerating the current speed to the target speed limit is determined based on the second target time, the current acceleration of the target vehicle, and the maximum jerk of the target vehicle, and a magnitude relationship between the actual acceleration and the maximum acceleration of the target vehicle is determined; When the actual acceleration is less than or equal to the maximum acceleration, the driving plan acceleration of the target vehicle is determined based on the current acceleration and the maximum jerk of the target vehicle, and the driving plan speed is determined based on the driving plan acceleration to obtain the driving plan information of the target vehicle. When the actual acceleration is greater than the maximum acceleration, the first acceleration time for increasing the current acceleration of the target vehicle to the maximum acceleration is determined based on the current acceleration, the maximum acceleration and the maximum jerk of the target vehicle, and the target speed of the target vehicle after reaching the first acceleration time is determined, and based on the first acceleration time The method comprises the steps of: determining a second acceleration time for accelerating the current speed of the target vehicle to the target speed based on the target speed, the target speed, the target speed limit and the maximum acceleration, and determining a driving planning acceleration of the target vehicle based on the current acceleration and the maximum acceleration of the target vehicle, and determining a driving planning speed based on the driving planning acceleration to obtain seventh local vehicle driving planning information corresponding to the first acceleration time, and taking the maximum acceleration as the driving planning acceleration, and determining a driving planning speed based on the driving planning acceleration to obtain eighth local vehicle driving planning information corresponding to the second acceleration time.

[0012] The present application also provides an automatic driving planning device based on a kinematic model, comprising: A driving state information acquisition module, used to acquire current driving state information of a target vehicle, wherein the current driving state information at least includes state information of the target vehicle itself and state information of a road where the target vehicle is located; A driving planning information determination module is used to determine the corresponding target vehicle driving planning information based on the current driving state information and a pre-constructed vehicle kinematic model, wherein the vehicle kinematic model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters, the driving planning parameters at least include a driving planning speed and / or a driving planning acceleration, the target vehicle driving planning information includes driving planning parameters, and the target vehicle driving planning information serves as a basis for the target vehicle's driving.

[0013] Based on the above, the present application also provides an electronic device, including: Memory for storing computer programs; A processor connected to the memory is used to execute the computer program stored in the memory to implement the above-mentioned automatic driving planning method based on the kinematic model.

[0014] Based on the above, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is run, the various steps of the above-mentioned kinematic model-based autonomous driving planning method are executed.

[0015] The automatic driving planning method and device, equipment and medium based on the kinematic model provided by the present application first obtain the current driving state information of the target vehicle, wherein the current driving state information at least includes the state information of the target vehicle itself and the state information of the road where the target vehicle is located; secondly, based on the current driving state information and the pre-constructed vehicle kinematic model, the target vehicle driving planning information is determined, wherein the vehicle kinematic model includes the function mapping relationship between the driving state information of the vehicle and the driving planning parameters of the vehicle, and the driving planning parameters at least include the driving planning speed and / or the driving planning acceleration. Based on the above content, since the vehicle kinematic model includes the function mapping relationship between the driving state information of the vehicle and the driving planning parameters of the vehicle, after the driving state information is obtained, the corresponding driving planning parameters can be directly determined by using the function mapping relationship, which can fully improve the efficiency of determining the driving planning parameters, has high real-time performance, and makes the reliability higher, thereby improving the problem of relatively low reliability of driving planning in the prior art. Furthermore, since the function mapping relationship is directly used for mapping output, the computational complexity is low, such as O(1), and less processor resources and memory resources of the electronic device are occupied, and the device can be deployed on a low-cost domain controller, thereby reducing the device cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

[0017] Figure 1 A structural block diagram of an electronic device provided in an embodiment of the present application.

[0018] Figure 2 A flowchart of an autonomous driving planning method based on a kinematic model provided in an embodiment of the present application.

[0019] Figure 3A schematic diagram of speed limit modes matched with various vehicle kinematics sub-models provided in an embodiment of the present application.

[0020] Figure 4 A flowchart for determining a vehicle kinematics sub-model provided in an embodiment of the present application.

[0021] Figure 5 A block diagram of an autonomous driving planning device based on a kinematic model provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0024] like Figure 1 As shown, an embodiment of the present application provides an electronic device, wherein the electronic device may include a memory, a processor, and an automatic driving planning device based on a kinematic model.

[0025] In detail, the memory and the processor are electrically connected directly or indirectly to realize data transmission or interaction. For example, the memory and the processor can be electrically connected through one or more communication buses or signal lines. The kinematic model-based autonomous driving planning device includes at least one software function module stored in the memory in the form of software or firmware. The processor is used to execute an executable computer program stored in the memory, for example, the software function modules and computer programs included in the kinematic model-based autonomous driving planning device, so as to realize the kinematic model-based autonomous driving planning method provided in an embodiment of the present application.

[0026] Optionally, the memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.

[0027] Furthermore, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a system on chip (SoC), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0028] Understandably, Figure 1 The structure shown is for illustration only, and the electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1 The different configurations shown, for example, may also include a communication unit for exchanging information with other devices.

[0029] It can be understood that the above-mentioned electronic device can be a computing device such as a server.

[0030] Combination Figure 2 The embodiment of the present application also provides an automatic driving planning method based on a kinematic model that can be applied to the above electronic device. The method steps defined in the process related to the automatic driving planning method based on a kinematic model can be implemented by the electronic device.

[0031] The following will Figure 2 The specific process shown is explained in detail.

[0032] Step S110, obtaining the current driving state information of the target vehicle.

[0033] In an embodiment of the present application, the electronic device can obtain the current driving state information of the target vehicle, wherein the current driving state information at least includes the state information of the target vehicle itself (such as speed, acceleration, etc.) and the state information of the road where the target vehicle is located (such as whether there are obstacles, whether there is a speed limit, etc.).

[0034] Step S120, determining corresponding target vehicle driving planning information based on the current driving state information and the pre-built vehicle kinematic model.

[0035] In an embodiment of the present application, the electronic device can determine the corresponding target vehicle driving planning information based on the current driving state information and the pre-constructed vehicle kinematic model. Wherein, the vehicle kinematic model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters, and the driving planning parameters include at least a driving planning speed and / or a driving planning acceleration (i.e., at least one of the driving planning speed and the driving planning acceleration. In addition, in some alternative implementations, the driving planning parameters may also include parameters such as driving planning displacement, and specific reference may be made to the relevant descriptions below, such as the calculation formula for displacement s), and the target vehicle driving planning information includes driving planning parameters, and the target vehicle driving planning information serves as the basis for the target vehicle's driving, that is, in subsequent control, the target vehicle can be controlled according to the driving planning parameters, such as maintaining the speed of the target vehicle or controlling the acceleration and deceleration of the target vehicle.

[0036] Based on the above content, since the vehicle kinematic model includes the function mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters, after obtaining the driving state information, the corresponding driving planning parameters can be directly determined using the function mapping relationship, which can fully improve the efficiency of determining the driving planning parameters, has high real-time performance, and makes the reliability higher, thereby improving the relatively low reliability of driving planning in the prior art. In addition, since the function mapping relationship is directly used for mapping output, the calculation complexity is low, such as O(1), and the processor resources and memory resources of the electronic device are less occupied, and it can be deployed on a low-cost domain controller.

[0037] It should be noted that for step S120, the specific method of determining the corresponding target vehicle driving planning information based on the current driving state information and the pre-built vehicle kinematic model is not limited and can be selected according to actual needs.

[0038] For example, in an alternative embodiment, in order to make the determined target vehicle driving planning information more reliable and adaptable to the current actual state of the target vehicle, the above-mentioned step S120 may further include step S121 and step S122, and the specific contents of each step are as follows.

[0039] Step S121: Based on at least part of the current driving state information, a matching target vehicle kinematic sub-model is determined in a pre-constructed vehicle kinematic model.

[0040] In an embodiment of the present application, a matching target vehicle kinematic submodel can be determined in a pre-constructed vehicle kinematic model based on at least part of the current driving state information. The vehicle kinematic model includes at least one vehicle kinematic submodel, and the vehicle kinematic submodel includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters. In other words, the determined target vehicle kinematic submodel matches the target vehicle's own state information and the state information of the road on which it is located.

[0041] Step S122: determining corresponding target vehicle driving plan information based on at least part of the current driving state information and the target vehicle kinematic sub-model.

[0042] In the embodiment of the present application, after the target vehicle kinematic submodel is determined, the corresponding target vehicle driving planning information can be determined based on at least part of the information in the current driving state information and the target vehicle kinematic submodel. That is, based on the function mapping relationship included in the target vehicle kinematic submodel, at least part of the information in the current driving state information is mapped to obtain the corresponding target vehicle driving planning information, thereby reducing equipment costs and having a high practical application value.

[0043] It is understandable that, in the above step S121, the specific method of determining the matching target vehicle kinematic submodel is not limited and can be selected according to actual needs. For example, in an alternative embodiment, in order to ensure that the determined target vehicle kinematic submodel has a high degree of matching with the actual state of the target vehicle, the above step S121 can further include step S121a, step S121b, step S121c and step S121d, and the specific content of each step is as follows.

[0044] Step S121a, based on the state information of the road where the target vehicle is located in the current driving state information, determine whether there is an obstacle on the road where the target vehicle is located.

[0045] In the embodiment of the present application, it is possible to determine whether there is an obstacle on the road where the target vehicle is located based on the state information of the road where the target vehicle is located in the current driving state information. The obstacle refers to an object that has an obstructive effect on the driving of the target vehicle, such as a fallen object or other vehicles traveling at a low speed.

[0046] Step S121b, when there is an obstacle on the road where the target vehicle is located, determine whether the target vehicle bypasses the obstacle.

[0047] In the embodiment of the present application, when there is an obstacle on the road where the target vehicle is located, it can be determined whether the target vehicle will bypass the obstacle. The decision on whether to bypass can be determined based on other control mechanisms, which are not specifically limited here. For example, in one mechanism, as long as there is an obstacle, it must bypass. In another mechanism, no bypass is made for obstacles. In another mechanism, it can also be determined based on specific circumstances whether to bypass (such as whether there are conditions for bypassing, for example, for a single lane, there are no conditions for bypassing).

[0048] Step S121c, when the target vehicle does not bypass the obstacle, determine whether the target vehicle is currently in a speed limit cruise state based on the state information of the target vehicle itself in the current driving state information, and when the target vehicle is currently in the speed limit cruise state, determine the first vehicle kinematics sub-model in the pre-constructed vehicle kinematics model as the matching target vehicle kinematics sub-model, and, when the target vehicle is not currently in the speed limit cruise state, determine the second vehicle kinematics sub-model in the pre-constructed vehicle kinematics model as the matching target vehicle kinematics sub-model.

[0049] In an embodiment of the present application, when the target vehicle does not bypass the obstacle, it is determined whether the target vehicle is currently in a speed-limited cruise state (i.e., whether the target vehicle is cruising at the speed limit of the current road) based on the state information of the target vehicle itself in the current driving state information, and when the target vehicle is currently in a speed-limited cruise state, the first vehicle kinematics submodel in the pre-constructed vehicle kinematics model is determined as a matching target vehicle kinematics submodel, and when the target vehicle is currently not in a speed-limited cruise state, the second vehicle kinematics submodel in the pre-constructed vehicle kinematics model is determined as a matching target vehicle kinematics submodel. In other words, since there are obstacles that cannot be bypassed on the driving path of the target vehicle, and the different information such as the current speed of the target vehicle will lead to different planning of the subsequent speed and other information of the target vehicle, therefore, it is necessary to use the matched first vehicle kinematics submodel and the second vehicle kinematics submodel as the target vehicle kinematics submodel respectively to ensure the matching degree.

[0050] Step S121d, when the target vehicle chooses to bypass the obstacle or there is no obstacle on the road where the target vehicle is located, based on the state information of the target vehicle itself and the state information of the road where the target vehicle is located, a matching target vehicle kinematic submodel is determined from among the first vehicle kinematic submodel, the second vehicle kinematic submodel, the third vehicle kinematic submodel and the fourth vehicle kinematic submodel included in the pre-constructed vehicle kinematic model.

[0051] In an embodiment of the present application, when the target vehicle chooses to bypass the obstacle or there is no obstacle on the road where the target vehicle is located, based on the state information of the target vehicle itself and the state information of the road where the target vehicle is located, a matching target vehicle kinematics submodel is determined among the first vehicle kinematics submodel, the second vehicle kinematics submodel, the third vehicle kinematics submodel and the fourth vehicle kinematics submodel included in the pre-constructed vehicle kinematics model. Among them, the state information of the target vehicle itself includes the current speed and the current acceleration, the state information of the road where the target vehicle is located includes the speed limit information of the road where the target vehicle is located, and there are different function mapping relationships between the first vehicle kinematics submodel, the second vehicle kinematics submodel, the third vehicle kinematics submodel and the fourth vehicle kinematics submodel. In other words, due to the different state information of the target vehicle itself and the state information of the road where the target vehicle is located, the subsequent control requirements for the target vehicle will be different, and therefore, it is necessary to determine the matching first vehicle kinematics submodel, the second vehicle kinematics submodel, the third vehicle kinematics submodel and the fourth vehicle kinematics submodel as the target vehicle kinematics submodel respectively to ensure the matching degree. Specifically, it can be determined whether it matches the first vehicle kinematics sub-model first; if it does not match the first vehicle kinematics sub-model, it can be determined whether it matches the second vehicle kinematics sub-model; if it does not match the second vehicle kinematics sub-model, it can be determined whether it matches the third vehicle kinematics sub-model; if it does not match the third vehicle kinematics sub-model, it can be determined whether it matches the fourth vehicle kinematics sub-model. Figure 3 (V represents speed, S represents displacement), and the specific situations that match the first vehicle kinematic sub-model may include the situation that the target vehicle is currently cruising at the speed limit, the speed limit of the road ahead is reduced, or a low-speed obstacle appears ahead. For example, when the target vehicle is cruising at a speed of 120 km / h, the speed limit of the tunnel ahead is 100 km / h (such as Figure 3 The specific situation that matches the second vehicle kinematic sub-model may include the situation where there is a low-speed obstacle in front of the target vehicle. For example, the current speed of the target vehicle is 120 km / h and the speed of the obstacle in front is 87 km / h (e.g. Figure 3 Specific situations that match the third vehicle kinematics sub-model may include the target vehicle appearing at a position where the road speed limit changes or where the obstacle ahead disappears, for example, the speed limit increases from 80 km / h to 100 km / h after exiting a tunnel, or the target vehicle speed limit increases from 38 km / h to 80 km / h when the low-speed obstacle ahead disappears (e.g. Figure 3Specific situations matching the fourth vehicle kinematics sub-model may include, based on the road speed limit or other dispatching system specified speed, that is, when there is no obstacle ahead, the target vehicle travels at the specified speed, for example, the current road speed limit is 60 km / h (such as Figure 3 The uniform speed limit mode in the above judgment mechanism can be as follows: Figure 4 shown.

[0052] It is understandable that, in the above step S122, the specific method of determining the corresponding target vehicle driving plan information based on at least part of the current driving state information and the target vehicle kinematic sub-model is not limited and can be selected according to actual needs. For example, in an alternative embodiment, in order to ensure that the determined target vehicle driving plan information has a high reliability, the above step S122 can further include the following contents: First, when the target vehicle kinematics sub-model belongs to the first vehicle kinematics sub-model, determine the magnitude relationship between the current speed included in the state information of the target vehicle itself in the current driving state information and the first speed limit of the road where the target vehicle is located, the road where the target vehicle is located also has a second speed limit that is less than the first speed limit, and the driving direction of the target vehicle is from the position corresponding to the first speed limit to the position corresponding to the second speed limit, that is, first passing through the position corresponding to the first speed limit, and then to the position corresponding to the second speed limit, that is, there is and ,and, The positions where the speed changes are and ,and ; Secondly, when the current speed of the target vehicle is equal to the first speed limit, the current speed of the target vehicle is used as the driving planning speed to determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and based on the current speed of the target vehicle and the mapping relationship between the partial functions related to deceleration in the second vehicle kinematic submodel, the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit is determined, wherein the target vehicle driving planning information includes the first local vehicle driving planning information and the second local vehicle driving planning information; that is, if , the target vehicle first travels at a constant speed to At , the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model is applied to Slow down the target vehicle to , after which, maintain uniform motion until encountering a new speed limit; Then, when the current speed of the target vehicle is less than or equal to the first speed limit, if the distance between the current position of the target vehicle and the starting position of the second speed limit is less than a predetermined first reference distance, the current speed of the target vehicle is used as the driving planning speed to determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and, based on the current speed of the target vehicle and the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model, determine the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit. If the distance between the current position of the target vehicle and the starting position of the second speed limit is greater than the first reference distance, based on the current speed of the target vehicle and the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and, based on the first speed limit and the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model, determine the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit. That is, if , and speed limit The displacement corresponding to the start of descent The distance to the target vehicle is less than or equal to (For example, , then maintain No change, wait for the target vehicle to When the target vehicle is at the position, the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model is applied to decelerate the target vehicle to , and then, keep moving at a constant speed until a new speed limit is encountered. The distance to the target vehicle is greater than , then first apply the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model to accelerate the target vehicle to , maintain a constant speed until Then, the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model is applied to decelerate the target vehicle to , and finally maintain uniform motion until encountering a new speed limit mode; Finally, when the current speed of the target vehicle is greater than the first speed limit, based on the current speed of the target vehicle and the partial function mapping relationship related to deceleration in the fourth vehicle kinematics submodel, the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit is determined, and based on the first speed limit and the partial function mapping relationship related to deceleration in the second vehicle kinematics submodel, the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit is determined; that is, if , then first apply the partial function mapping relationship related to deceleration in the fourth vehicle kinematics sub-model to decelerate the target vehicle to , then keep moving at a constant speed until Then, the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model is applied to decelerate the target vehicle to , and finally maintain uniform motion until encountering a new speed limit mode.

[0053] It is understandable that, in the above step S122, the specific method of determining the corresponding target vehicle driving plan information based on at least part of the current driving state information and the target vehicle kinematic sub-model is not limited and can be selected according to actual needs. For example, in an alternative embodiment, in order to ensure that the determined target vehicle driving plan information has a high reliability, the above step S122 can further include the following contents: First, when the target vehicle kinematics submodel belongs to the second vehicle kinematics submodel, an initial speed limit speed and a target speed limit speed are determined, and distance information from a position corresponding to the initial speed limit speed to a position corresponding to the target speed limit speed is obtained, wherein the initial speed limit speed is greater than the target speed limit speed, the target speed limit speed is greater than or equal to zero, and the target speed limit speed is determined based on speed limit information of the road where the target vehicle is located or whether there is an obstacle; that is, record is the speed limit target speed, is the initial speed limit, and , is the initial displacement, For speed to become The displacement at Then, based on the speed limit initial speed, the speed limit target speed and the distance information from the position corresponding to the speed limit initial speed to the position corresponding to the speed limit target speed, the actual maximum deceleration required to decelerate from the speed limit initial speed to the speed limit target speed is determined, and the actual maximum deceleration is compared with the predetermined reference maximum deceleration of the target vehicle, wherein the deceleration refers to an acceleration belonging to a negative value; that is, the calculation from arrive The speed in the interval is Slow down to Maximum acceleration required ( is a negative value, and should actually be a deceleration). The specific calculation formula (i.e., function mapping relationship) can be: ; If the actual maximum deceleration is less than the reference maximum deceleration, the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding target vehicle driving plan information, so that the target vehicle decelerates from the speed limit initial speed to the speed limit target speed based on the target vehicle driving plan information; that is, (Refer to the maximum deceleration, which can be understood as the limit deceleration, which can specifically refer to the deceleration when ensuring the target vehicle has a better driving stability, such as -4.0 m / s 2 ), which shows that even if we use Still not in the displacement range Change the target vehicle's speed from Reduce to At this time, only the reference maximum deceleration can be used to calculate the displacement, velocity and acceleration. The specific calculation formula (i.e., the function mapping relationship) can be: ; Note: When At this time, the displacement ; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the actual maximum deceleration, the actual maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding target vehicle driving plan information, so that the target vehicle decelerates from the speed limit initial speed to the speed limit target speed based on the target vehicle driving plan information; that is, and , with constant acceleration from Exercise to , and then move at a uniform speed; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is equal to the speed limit initial speed, the current deceleration of the target vehicle is greater than the actual maximum deceleration, or the current speed of the target vehicle is greater than the speed limit initial speed, then the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding third local vehicle driving plan information, and, based on the driving plan speed, the latest actual maximum deceleration required to decelerate the driving plan speed to the speed limit target speed is determined, and the latest actual maximum deceleration is compared with the reference maximum deceleration, and if the latest actual maximum deceleration is greater than or equal to the reference maximum deceleration, the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the latest actual maximum deceleration, then The latest actual maximum deceleration is used as the driving planning acceleration, and the driving planning speed is determined based on the driving planning acceleration to obtain the corresponding fourth local vehicle driving planning information, or, when the conditions that the latest actual maximum deceleration is greater than or equal to the reference maximum deceleration, the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the latest actual maximum deceleration are not satisfied, the reference maximum deceleration is used as the driving planning acceleration, and the driving planning speed is determined based on the driving planning acceleration to obtain the corresponding fourth local vehicle driving planning information, wherein the direction from the position corresponding to the third local vehicle driving planning information to the position corresponding to the fourth local vehicle driving information is the driving direction of the target vehicle, and the target vehicle driving planning information at least includes the third local vehicle driving planning information and the fourth local vehicle driving planning information; that is, and or , indicating that the current deceleration is insufficient or the current speed is too fast, and a deceleration with a larger absolute value is required to slow down the target vehicle. , then first Travel one quarter of the distance: ,get: ; Arrival based on the above formula The time is: ; The speed at this time is: ; Based on the updated velocity, recalculate the required acceleration: ; At this time if Satisfy the previous conditions (such as ), the subsequent speed planning is performed according to the previous corresponding steps; otherwise Drive another quarter of the distance: , and continue to execute the above process until the previous conditions are met; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is less than the speed limit initial speed, the step of determining the actual maximum deceleration required to decelerate the speed limit initial speed to the speed limit target speed based on the speed limit initial speed, the speed limit target speed, and the distance information from the position corresponding to the speed limit initial speed to the position corresponding to the speed limit target speed is reversed, and the actual maximum deceleration is compared with the predetermined reference maximum deceleration of the target vehicle, and when executing this step, the speed limit initial speed in this step is updated to the current speed of the target vehicle; that is, , indicating that the current speed of the target vehicle is less than the initial speed limit, directly replace the previous calculation formula with Replace with , and then execute the subsequent steps. The calculation formula is: .

[0054] It is understandable that, in the above step S122, the specific method of determining the corresponding target vehicle driving plan information based on at least part of the current driving state information and the target vehicle kinematic sub-model is not limited and can be selected according to actual needs. For example, in an alternative embodiment, in order to ensure that the determined target vehicle driving plan information has a high reliability, the above step S122 can further include the following contents: When the target vehicle kinematics submodel belongs to the third vehicle kinematics submodel, if the current speed of the target vehicle is equal to the first speed limit, the current speed of the target vehicle is used as the travel planning speed to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the travel planning speed in the fifth local vehicle driving information is accelerated to the second speed limit to obtain the corresponding sixth local vehicle driving information, wherein the second speed limit is greater than the first speed limit, the first speed limit is greater than zero, and the direction from the position corresponding to the first speed limit to the position corresponding to the second speed limit is the travel direction of the target vehicle; that is, record and are the first speed limit and the second speed limit, and ,if , the target vehicle travels at a constant speed to At, the target vehicle is accelerated to , and then keep moving at a constant speed until encountering a new speed limit; If the current speed of the target vehicle is greater than the first speed limit, determine whether the target distance between the current position of the target vehicle and the target position is greater than a predetermined distance threshold, and when the target distance is not greater than the distance threshold, use the current speed of the target vehicle as the travel planning speed to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, accelerate the travel planning speed in the fifth local vehicle driving information to the second speed limit to obtain the corresponding sixth local vehicle driving information, or, when the target distance is greater than the distance threshold, based on the partial function mapping relationship related to deceleration in the fourth vehicle kinematics sub-model, decelerate the current speed of the target vehicle to the first speed limit to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, accelerate the travel planning speed equal to the first speed limit in the fifth local vehicle driving information to the second speed limit to obtain the corresponding sixth local vehicle driving information; that is, if ,and The corresponding displacement The distance to the target vehicle is less than or equal to (For example ), then maintain No change, wait for the target vehicle to When the target vehicle is accelerated to , and then keep moving at a constant speed until encountering a new speed limit mode. The distance to the target vehicle is greater than , then first apply the partial function mapping relationship related to deceleration in the fourth vehicle kinematics sub-model to reduce the speed of the target vehicle to , maintain a constant speed until Then, the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model is applied to accelerate the target vehicle to , and finally maintain uniform motion until encountering a new speed limit mode; If the current speed of the target vehicle is less than the first speed limit, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the current speed of the target vehicle is accelerated to the first speed limit to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the travel planning speed equal to the first speed limit in the fifth local vehicle driving information is accelerated to the second speed limit to obtain the corresponding sixth local vehicle driving information; that is, if , then first apply the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model to accelerate the target vehicle to , then keep moving at a constant speed until Then, the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model is applied to accelerate the target vehicle to , and finally maintain uniform motion until encountering a new speed limit mode.

[0055] It is understandable that, in the above step S122, the specific method of determining the corresponding target vehicle driving plan information based on at least part of the current driving state information and the target vehicle kinematic sub-model is not limited and can be selected according to actual needs. For example, in an alternative embodiment, in order to ensure that the determined target vehicle driving plan information has a high reliability, the above step S122 can further include the following contents: When the target vehicle kinematics submodel belongs to the fourth vehicle kinematics submodel, if the current speed of the target vehicle is equal to the target speed limit, the current speed of the target vehicle is used as the driving planning speed to obtain the corresponding target vehicle driving planning information; that is, if , then directly output the result, , , , Note: In comparison and If they are equal, the speed limit needs to be Set a hysteresis interval. As long as the speed of the target vehicle does not exceed the range of this interval, the speed of the target vehicle should be kept constant to avoid the target vehicle accelerating and decelerating, which affects the driving smoothness and is not conducive to energy saving. If the current speed of the target vehicle is greater than the target speed limit, a first target time for decelerating the current speed of the target vehicle to the target speed limit is determined based on the current speed of the target vehicle, the target speed limit, the current acceleration of the target vehicle and the maximum deceleration of the target vehicle, and an actual deceleration of the target vehicle when decelerating the current speed to the target speed limit is determined based on the first target time, the current acceleration of the target vehicle and the maximum deceleration of the target vehicle, and a magnitude relationship between the actual deceleration and the maximum deceleration of the target vehicle is determined; that is, if , then the maximum deceleration speed must be specified in advance (like m / s 3 ) and maximum deceleration (like m / s 2 ), reducing the speed of the target vehicle to The specific method is as follows: Slow down the target vehicle to The time required. If , then let ;if , then let In this case, the corresponding function mapping relationship is: (target formula); ; When the actual deceleration is greater than or equal to the maximum deceleration, the driving plan acceleration of the target vehicle is determined based on the current acceleration and the maximum deceleration of the target vehicle, and the driving plan speed is determined based on the driving plan acceleration to obtain the driving plan information of the target vehicle. When the actual deceleration is less than the maximum deceleration, the first deceleration time for reducing the current acceleration of the target vehicle to the maximum deceleration is determined based on the current acceleration, the maximum deceleration and the maximum deceleration of the target vehicle, and the target speed of the target vehicle after reaching the first deceleration time is determined, and the target speed of the target vehicle after reaching the first deceleration time is determined based on the first deceleration time, the target speed, the target speed limit and the maximum deceleration. A second deceleration time is used to decelerate the current speed of the target vehicle to the target speed, and, based on the current acceleration and the maximum deceleration of the target vehicle, the driving plan acceleration of the target vehicle is determined, and the driving plan speed is determined based on the driving plan acceleration to obtain the seventh local vehicle driving plan information corresponding to the first deceleration time, and, the maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the eighth local vehicle driving plan information corresponding to the second deceleration time, wherein the eighth local vehicle driving plan information refers to the local vehicle driving plan information after reaching the first deceleration time and before reaching the second deceleration time; that is, if , indicating that the required deceleration does not exceed the maximum deceleration , the above kinematic model is reasonable. So the calculation formula of displacement, velocity and acceleration is: When , the target formula is directly used for calculation; when When , the uniform velocity model is used: ; if , indicating that the calculated If the value does not meet the preset conditions, it is an invalid value and needs to be recalculated. The deceleration of the target vehicle reaches the maximum deceleration time, The target vehicle slows down to The time required is: ; ; So the calculation formulas for displacement, velocity and acceleration are as follows: when When , the target formula is directly used for calculation; when When , the uniform deceleration model is adopted: ; when When , the uniform velocity model is used: ; If the current speed of the target vehicle is less than the target speed limit, a second target time for accelerating the current speed of the target vehicle to the target speed limit is determined based on the current speed of the target vehicle, the target speed limit, the current acceleration of the target vehicle and the maximum jerk of the target vehicle, and an actual acceleration of the target vehicle when accelerating the current speed to the target speed limit is determined based on the second target time, the current acceleration of the target vehicle and the maximum jerk of the target vehicle, and a magnitude relationship between the actual acceleration and the maximum acceleration of the target vehicle is determined; that is, if , then according to the pre-specified maximum acceleration and maximum acceleration , increase the speed of the target vehicle to , the specific method is as follows: Accelerate the target vehicle to The time required. If , then let ;if , then let In this case, the function mapping relationship corresponding to the target vehicle is: ; ; When the actual acceleration is less than or equal to the maximum acceleration, the driving plan acceleration of the target vehicle is determined based on the current acceleration and the maximum jerk of the target vehicle, and the driving plan speed is determined based on the driving plan acceleration to obtain the driving plan information of the target vehicle. When the actual acceleration is greater than the maximum acceleration, a first acceleration time for increasing the current acceleration of the target vehicle to the maximum acceleration is determined based on the current acceleration, the maximum acceleration and the maximum jerk of the target vehicle, and the target speed of the target vehicle after reaching the first acceleration time is determined, and based on the first acceleration time, the target speed of the target vehicle is determined. The target speed, the target speed limit and the maximum acceleration are used to determine a second acceleration time for accelerating the current speed of the target vehicle to the target speed, and the driving planning acceleration of the target vehicle is determined based on the current acceleration and the maximum acceleration of the target vehicle, and the driving planning speed is determined based on the driving planning acceleration to obtain the seventh local vehicle driving planning information corresponding to the first acceleration time, and the maximum acceleration is used as the driving planning acceleration, and the driving planning speed is determined based on the driving planning acceleration to obtain the eighth local vehicle driving planning information corresponding to the second acceleration time; that is, if , indicating that the required acceleration does not exceed the maximum acceleration , the above function mapping relationship is reasonable, so the calculation formula of displacement, velocity and acceleration is: When , directly use the following formula to calculate; ; when When , the following uniform velocity model is used for calculation: ; if , indicating the calculated If the value does not meet the preset conditions, it is an invalid value and needs to be recalculated. The acceleration of the target vehicle reaches the maximum acceleration time, The target vehicle accelerates to The time required is: ; ; So the calculation formulas for displacement, velocity and acceleration are as follows: when When , directly use the following formula to calculate: ; when When , the following uniform acceleration model is used for calculation: ; when When , the following uniform velocity model is used for calculation: .

[0056] Combination Figure 5 The embodiment of the present application also provides an automatic driving planning device based on a kinematic model that can be applied to the above electronic device. The automatic driving planning device based on a kinematic model can include a driving state information acquisition module and a driving planning information determination module.

[0057] The driving state information acquisition module is used to acquire the current driving state information of the target vehicle, wherein the current driving state information at least includes the state information of the target vehicle itself and the state information of the road where the target vehicle is located. Figure 2 As shown in step S110, the relevant contents of the driving status information acquisition module can refer to the above description of step S110.

[0058] The driving plan information determination module is used to determine the corresponding target vehicle driving plan information based on the current driving state information and the pre-constructed vehicle kinematic model, wherein the vehicle kinematic model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving plan parameters, the driving plan parameters at least include the driving plan speed and / or the driving plan acceleration, the target vehicle driving plan information includes the driving plan parameters, and the target vehicle driving plan information is used as the basis for the target vehicle to drive. In the embodiment of the present application, the driving plan information determination module can be used to perform Figure 2 As shown in step S120, the relevant contents of the driving plan information determination module can refer to the above description of step S120.

[0059] In an embodiment of the present application, corresponding to the above-mentioned kinematic model-based autonomous driving planning method applied to the electronic device, a computer-readable storage medium is also provided, in which a computer program is stored, and when the computer program is run, each step of the kinematic model-based autonomous driving planning method is executed.

[0060] Among them, the steps executed when the aforementioned computer program is running will not be described one by one here, and reference can be made to the previous explanation of the autonomous driving planning method based on the kinematic model.

[0061] In summary, the automatic driving planning method and device, equipment and medium based on the kinematic model provided by the present application first obtain the current driving state information of the target vehicle, wherein the current driving state information at least includes the state information of the target vehicle itself and the state information of the road where the target vehicle is located; secondly, based on the current driving state information and the pre-constructed vehicle kinematic model, the target vehicle driving planning information is determined, wherein the vehicle kinematic model includes the function mapping relationship between the driving state information of the vehicle and the driving planning parameters of the vehicle, and the driving planning parameters at least include the driving planning speed and / or the driving planning acceleration. Based on the above content, since the vehicle kinematic model includes the function mapping relationship between the driving state information of the vehicle and the driving planning parameters of the vehicle, after the driving state information is obtained, the corresponding driving planning parameters can be directly determined by using the function mapping relationship, which can fully improve the efficiency of determining the driving planning parameters, has high real-time performance, and makes the reliability higher, thereby improving the problem of relatively low reliability of driving planning in the prior art. Furthermore, since the function mapping relationship is directly used for mapping output, the computational complexity is low, such as O(1), and less processor resources and memory resources of the electronic device are occupied, and the device can be deployed on a low-cost domain controller, thereby reducing the device cost.

[0062] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device and method embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the device, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0063] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0064] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code. It should be noted that in this article, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0065] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic driving planning method based on a kinematic model, characterized in that: include: Acquire current driving state information of the target vehicle, wherein the current driving state information at least includes state information of the target vehicle itself and state information of the road where the target vehicle is located; Based on the current driving state information and a pre-constructed vehicle kinematic model, the corresponding target vehicle driving planning information is determined, wherein the vehicle kinematic model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters, the driving planning parameters at least include a driving planning speed and / or a driving planning acceleration, and the target vehicle driving planning information includes driving planning parameters, and the target vehicle driving planning information serves as a basis for the target vehicle's driving.

2. The automatic driving planning method based on kinematic model according to claim 1, characterized in that: The step of determining the corresponding target vehicle driving planning information based on the current driving state information and the pre-built vehicle kinematic model includes: Based on at least part of the current driving state information, determining a matching target vehicle kinematic sub-model in a pre-constructed vehicle kinematic model, wherein the vehicle kinematic model includes at least one vehicle kinematic sub-model, and the vehicle kinematic sub-model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters; Based on at least part of the current driving state information and the target vehicle kinematic sub-model, corresponding target vehicle driving planning information is determined.

3. The automatic driving planning method based on kinematic model according to claim 2, characterized in that: The step of determining a matching target vehicle kinematic sub-model in a pre-constructed vehicle kinematic model based on at least part of the current driving state information comprises: Based on the state information of the road where the target vehicle is located in the current driving state information, determining whether there is an obstacle on the road where the target vehicle is located, wherein the obstacle refers to an object that has an obstructive effect on the driving of the target vehicle; When there is an obstacle on the road where the target vehicle is located, determining whether the target vehicle should bypass the obstacle; When the target vehicle does not perform a detour process on the obstacle, determine whether the target vehicle is currently in a speed-limited cruise state based on the state information of the target vehicle itself in the current driving state information, and when the target vehicle is currently in the speed-limited cruise state, determine the first vehicle kinematics sub-model in the pre-constructed vehicle kinematics model as a matching target vehicle kinematics sub-model, and, when the target vehicle is not currently in the speed-limited cruise state, determine the second vehicle kinematics sub-model in the pre-constructed vehicle kinematics model as a matching target vehicle kinematics sub-model; When the target vehicle chooses to bypass the obstacle or there is no obstacle on the road where the target vehicle is located, based on the state information of the target vehicle itself and the state information of the road where the target vehicle is located, a matching target vehicle kinematic submodel is determined from among a first vehicle kinematic submodel, a second vehicle kinematic submodel, a third vehicle kinematic submodel and a fourth vehicle kinematic submodel included in a pre-constructed vehicle kinematic model, wherein the state information of the target vehicle itself includes a current speed and a current acceleration, the state information of the road where the target vehicle is located includes speed limit information of the road where the target vehicle is located, and different function mapping relationships exist among the first vehicle kinematic submodel, the second vehicle kinematic submodel, the third vehicle kinematic submodel and the fourth vehicle kinematic submodel.

4. The automatic driving planning method based on kinematic model according to claim 3, characterized in that: The step of determining corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model comprises: When the target vehicle kinematics sub-model belongs to the first vehicle kinematics sub-model, determining a magnitude relationship between a current speed included in the state information of the target vehicle itself in the current driving state information and a first speed limit speed of a road where the target vehicle is located, the road where the target vehicle is located also has a second speed limit speed that is less than the first speed limit speed, and the driving direction of the target vehicle is from a position corresponding to the first speed limit speed to a position corresponding to the second speed limit speed; When the current speed of the target vehicle is equal to the first speed limit, the current speed of the target vehicle is used as the driving planning speed to determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and based on the current speed of the target vehicle and the mapping relationship between the partial functions related to deceleration in the second vehicle kinematic submodel, the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit is determined, wherein the target vehicle driving planning information includes the first local vehicle driving planning information and the second local vehicle driving planning information; When the current speed of the target vehicle is less than or equal to the first speed limit, if the distance between the current position of the target vehicle and the starting position of the second speed limit is less than a predetermined first reference distance, the current speed of the target vehicle is used as the driving planning speed to determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and, based on the current speed of the target vehicle and the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model, determine the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit; if the distance between the current position of the target vehicle and the starting position of the second speed limit is greater than the first reference distance, based on the current speed of the target vehicle and the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, determine the first local vehicle driving planning information required for the target vehicle at the position corresponding to the first speed limit, and, based on the first speed limit and the partial function mapping relationship related to deceleration in the second vehicle kinematics sub-model, determine the second local vehicle driving planning information required for the target vehicle at the position corresponding to the second speed limit; When the current speed of the target vehicle is greater than the first speed limit, first local vehicle driving planning information required for the target vehicle at a position corresponding to the first speed limit is determined based on a mapping relationship between the current speed of the target vehicle and a partial function related to deceleration in the fourth vehicle kinematics submodel, and second local vehicle driving planning information required for the target vehicle at a position corresponding to the second speed limit is determined based on a mapping relationship between the first speed limit and a partial function related to deceleration in the second vehicle kinematics submodel.

5. The automatic driving planning method based on kinematic model according to claim 3, characterized in that: The step of determining corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model comprises: When the target vehicle kinematics sub-model belongs to the second vehicle kinematics sub-model, determining an initial speed limit speed and a target speed limit speed, and obtaining distance information from a position corresponding to the initial speed limit speed to a position corresponding to the target speed limit speed, wherein the initial speed limit speed is greater than the target speed limit speed, the target speed limit speed is greater than or equal to zero, and the target speed limit speed is determined based on speed limit information of a road where the target vehicle is located or whether there is an obstacle; Based on the speed limit initial speed, the speed limit target speed and the distance information between the position corresponding to the speed limit initial speed and the position corresponding to the speed limit target speed, determining the actual maximum deceleration required to decelerate the speed limit initial speed to the speed limit target speed, and comparing the actual maximum deceleration with a predetermined reference maximum deceleration of the target vehicle, wherein the deceleration refers to an acceleration that is a negative value; If the actual maximum deceleration is less than the reference maximum deceleration, the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding target vehicle driving plan information, so that the target vehicle decelerates from the speed limit initial speed to the speed limit target speed based on the target vehicle driving plan information; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the actual maximum deceleration, the actual maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding target vehicle driving plan information, so that the target vehicle decelerates from the speed limit initial speed to the speed limit target speed based on the target vehicle driving plan information; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is equal to the speed limit initial speed, the current deceleration of the target vehicle is greater than the actual maximum deceleration, or the current speed of the target vehicle is greater than the speed limit initial speed, then the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding third local vehicle driving plan information, and, based on the driving plan speed, the latest actual maximum deceleration required to decelerate the driving plan speed to the speed limit target speed is determined, and the latest actual maximum deceleration is compared with the reference maximum deceleration, and when the latest actual maximum deceleration is greater than or equal to the reference maximum deceleration, the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the latest actual maximum deceleration, Then the latest actual maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding fourth local vehicle driving plan information, or, when the conditions that the latest actual maximum deceleration is greater than or equal to the reference maximum deceleration, the current speed of the target vehicle is equal to the speed limit initial speed, and the current deceleration of the target vehicle is less than or equal to the latest actual maximum deceleration are not satisfied, the reference maximum deceleration is used as the driving plan acceleration, and the driving plan speed is determined based on the driving plan acceleration to obtain the corresponding fourth local vehicle driving plan information, wherein the direction from the position corresponding to the third local vehicle driving plan information to the position corresponding to the fourth local vehicle driving information is the driving direction of the target vehicle, and the target vehicle driving plan information at least includes the third local vehicle driving plan information and the fourth local vehicle driving plan information; If the actual maximum deceleration is greater than or equal to the reference maximum deceleration, and the current speed of the target vehicle is less than the speed limit initial speed, the step of determining the actual maximum deceleration required to decelerate the speed limit initial speed to the speed limit target speed based on the speed limit initial speed, the speed limit target speed and the distance information from the position corresponding to the speed limit initial speed to the position corresponding to the speed limit target speed, and comparing the actual maximum deceleration with a predetermined reference maximum deceleration of the target vehicle is executed, and when executing this step, the speed limit initial speed in this step is updated to the current speed of the target vehicle.

6. The kinematic model-based automatic driving planning method according to claim 3, characterized in that: The step of determining corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model comprises: When the target vehicle kinematics submodel belongs to the third vehicle kinematics submodel, if the current speed of the target vehicle is equal to the first speed limit, the current speed of the target vehicle is used as the travel planning speed to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the travel planning speed in the fifth local vehicle driving information is accelerated to the second speed limit to obtain the corresponding sixth local vehicle driving information, wherein the second speed limit is greater than the first speed limit, the first speed limit is greater than zero, and the direction from the position corresponding to the first speed limit to the position corresponding to the second speed limit is the driving direction of the target vehicle; If the current speed of the target vehicle is greater than the first speed limit, determine whether the target distance between the current position of the target vehicle and the target position is greater than a predetermined distance threshold, and when the target distance is not greater than the distance threshold, use the current speed of the target vehicle as the travel planning speed to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, accelerate the travel planning speed in the fifth local vehicle driving information to the second speed limit to obtain the corresponding sixth local vehicle driving information, or, when the target distance is greater than the distance threshold, based on the partial function mapping relationship related to deceleration in the fourth vehicle kinematics sub-model, decelerate the current speed of the target vehicle to the first speed limit to obtain the corresponding fifth local vehicle driving information, and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics sub-model, accelerate the travel planning speed equal to the first speed limit in the fifth local vehicle driving information to the second speed limit to obtain the corresponding sixth local vehicle driving information; If the current speed of the target vehicle is less than the first speed limit, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the current speed of the target vehicle is accelerated to the first speed limit to obtain corresponding fifth local vehicle driving information; and, based on the partial function mapping relationship related to acceleration in the fourth vehicle kinematics submodel, the driving planned speed in the fifth local vehicle driving information that is equal to the first speed limit is accelerated to the second speed limit to obtain corresponding sixth local vehicle driving information.

7. The kinematic model-based automatic driving planning method according to claim 3, characterized in that: The step of determining corresponding target vehicle driving planning information based on at least part of the current driving state information and the target vehicle kinematic sub-model comprises: When the target vehicle kinematics sub-model belongs to the fourth vehicle kinematics sub-model, if the current speed of the target vehicle is equal to the target speed limit, the current speed of the target vehicle is used as the driving planning speed to obtain the corresponding target vehicle driving planning information; If the current speed of the target vehicle is greater than the target speed limit, a first target time for decelerating the current speed of the target vehicle to the target speed limit is determined based on the current speed of the target vehicle, the target speed limit, the current acceleration of the target vehicle and the maximum deceleration of the target vehicle, and an actual deceleration of the target vehicle when decelerating the current speed to the target speed limit is determined based on the first target time, the current acceleration of the target vehicle and the maximum deceleration of the target vehicle, and a magnitude relationship between the actual deceleration and the maximum deceleration of the target vehicle is determined; When the actual deceleration is greater than or equal to the maximum deceleration, the driving plan acceleration of the target vehicle is determined based on the current acceleration and the maximum deceleration of the target vehicle, and the driving plan speed is determined based on the driving plan acceleration to obtain the driving plan information of the target vehicle. When the actual deceleration is less than the maximum deceleration, the first deceleration time for reducing the current acceleration of the target vehicle to the maximum deceleration is determined based on the current acceleration, the maximum deceleration and the maximum deceleration of the target vehicle, and the target speed of the target vehicle after reaching the first deceleration time is determined, and the target speed of the target vehicle after reaching the first deceleration time is determined based on the first deceleration time, the target speed, the target speed limit and the maximum deceleration. A second deceleration time is determined for decelerating the current speed of the target vehicle to the target speed, and a driving planning acceleration of the target vehicle is determined based on the current acceleration and the maximum deceleration of the target vehicle, and a driving planning speed is determined based on the driving planning acceleration to obtain seventh local vehicle driving planning information corresponding to the first deceleration time, and the maximum deceleration is used as the driving planning acceleration, and a driving planning speed is determined based on the driving planning acceleration to obtain eighth local vehicle driving planning information corresponding to the second deceleration time, wherein the eighth local vehicle driving planning information refers to the local vehicle driving planning information after reaching the first deceleration time and before reaching the second deceleration time; If the current speed of the target vehicle is less than the target speed limit, a second target time for accelerating the current speed of the target vehicle to the target speed limit is determined based on the current speed of the target vehicle, the target speed limit, the current acceleration of the target vehicle, and the maximum jerk of the target vehicle, and an actual acceleration of the target vehicle when accelerating the current speed to the target speed limit is determined based on the second target time, the current acceleration of the target vehicle, and the maximum jerk of the target vehicle, and a magnitude relationship between the actual acceleration and the maximum acceleration of the target vehicle is determined; When the actual acceleration is less than or equal to the maximum acceleration, the driving plan acceleration of the target vehicle is determined based on the current acceleration and the maximum jerk of the target vehicle, and the driving plan speed is determined based on the driving plan acceleration to obtain the driving plan information of the target vehicle. When the actual acceleration is greater than the maximum acceleration, the first acceleration time for increasing the current acceleration of the target vehicle to the maximum acceleration is determined based on the current acceleration, the maximum acceleration and the maximum jerk of the target vehicle, and the target speed of the target vehicle after reaching the first acceleration time is determined, and based on the first acceleration time The method comprises the steps of: determining a second acceleration time for accelerating the current speed of the target vehicle to the target speed based on the target speed, the target speed, the target speed limit and the maximum acceleration, and determining a driving planning acceleration of the target vehicle based on the current acceleration and the maximum acceleration of the target vehicle, and determining a driving planning speed based on the driving planning acceleration to obtain seventh local vehicle driving planning information corresponding to the first acceleration time, and taking the maximum acceleration as the driving planning acceleration, and determining a driving planning speed based on the driving planning acceleration to obtain eighth local vehicle driving planning information corresponding to the second acceleration time.

8. An automatic driving planning device based on a kinematic model, characterized in that: include: A driving state information acquisition module, used to acquire current driving state information of a target vehicle, wherein the current driving state information at least includes state information of the target vehicle itself and state information of a road where the target vehicle is located; A driving planning information determination module is used to determine the corresponding target vehicle driving planning information based on the current driving state information and a pre-constructed vehicle kinematic model, wherein the vehicle kinematic model includes a functional mapping relationship between the vehicle's driving state information and the vehicle's driving planning parameters, the driving planning parameters at least include a driving planning speed and / or a driving planning acceleration, the target vehicle driving planning information includes driving planning parameters, and the target vehicle driving planning information serves as a basis for the target vehicle's driving.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor connected to the memory is used to execute a computer program stored in the memory to implement the kinematic model-based autonomous driving planning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when running, executes the kinematic model-based autonomous driving planning method described in any one of claims 1 to 7.

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