Vehicle speed planning method, device, electronic device and readable storage medium

Abstract

The present application discloses a vehicle speed planning method, device, electronic device and readable storage medium, and relates to the field of vehicle engineering technology. The vehicle speed planning method includes: dividing the driving path into multiple driving sections according to the parameters of the vehicle's driving path; obtaining the planned speed of the vehicle in each driving section; determining the target speed of each driving section according to the parameters of the driving section and the planned speed; generating multiple target curves according to the order and target speed of multiple driving sections; and splicing the multiple target curves at speed to generate a speed curve of the vehicle in the driving path. The vehicle speed planning method of the present application can improve the efficiency of speed planning and improve the safety and stability of the vehicle during driving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle engineering technology, and in particular to a vehicle speed planning method, device, electronic equipment and readable storage medium. Background Art

[0002] In the process of "loading-transporting-unloading" of materials in open-pit mines, transport vehicles are required to travel along designated routes and at the speed required by the coal mine. In abnormal weather such as rain, snow and strong winds, and muddy and slippery road conditions, the speed of the area needs to be dynamically adjusted according to the speed limit to ensure the safe transportation of equipment in extreme weather and working conditions. In addition, during the operation of the open-pit mine fleet, the dispatching platform needs to control the traffic flow on the main path, intersections, loading areas, and unloading areas, which requires dynamic adjustment of the vehicle speed so that the number of vehicles in the road section meets the requirements. This requires global speed planning to provide the fastest and slowest time for vehicles from the starting point to the end point, providing a basis for the intelligent dispatching of the dispatching platform, reducing vehicle congestion on the road section, and improving overall transportation efficiency.

[0003] In the related technology, the maximum speed limit for each section of the route is set during the process of drawing a high-precision map of the driving route, but the speed of each path point is not included. This requires subsequent analysis of the high-precision map to make global speed planning so that the global speed meets the constraints of curvature, ramp, road width, control accuracy, etc., to achieve safety, comfort, fuel economy, etc. However, the use of high-precision map analysis to plan vehicle speed leads to a low efficiency in the vehicle speed planning process. Summary of the invention

[0004] The present invention aims to at least solve the technical problem of low efficiency of the vehicle speed planning process in the prior art.

[0005] To this end, a first aspect of the present invention proposes a vehicle speed planning method.

[0006] A second aspect of the present invention provides a speed planning device for a vehicle.

[0007] A third aspect of the present invention provides an electronic device.

[0008] A fourth aspect of the present invention provides a readable storage medium.

[0009] In view of this, the first aspect of the present invention proposes a vehicle speed planning method, comprising: dividing the driving path into multiple driving sections according to the parameters of the vehicle's driving path; obtaining the planned speed of the vehicle in each driving section; determining the target speed of each driving section according to the parameters of the driving section and the planned speed; generating multiple target curves according to the order of multiple driving sections and the target speeds; and splicing the multiple target curves at speed to generate a speed curve of the vehicle in the driving path.

[0010] The vehicle speed planning method provided by the present invention can be used to plan the vehicle's driving speed during the driving of a mining unmanned vehicle on a driving path, so that the vehicle's global speed meets constraints such as curvature, ramp, road width, control accuracy, etc., and meets requirements such as safety, comfort, and fuel economy.

[0011] First, the driving path is divided into multiple driving sections according to the parameters of the vehicle's driving path. Specifically, the driving path may include a variety of different driving sections, such as uphill sections, downhill sections, curved sections, wide sections, narrow sections, etc. Different speed plans need to be made for different driving sections to ensure the stability of the vehicle's driving during the connection process of different sections, while ensuring the speed of the vehicle, thereby meeting the requirements of safety, comfort, fuel economy, etc.

[0012] Furthermore, the planned speed of the vehicle in each driving section is obtained. It can be understood that the planned speed refers to the speed planned according to ideal vehicle parameters and environmental parameters before the vehicle actually drives. During the actual driving of the vehicle, it is necessary to further adjust the planned speed according to the actual parameters of the vehicle and the actual environmental parameters to meet various actual conditions during the actual driving of the vehicle and ensure the safe and stable operation of the vehicle.

[0013] Furthermore, after determining a plurality of driving sections and the corresponding planned speeds for each driving section, the target speed for each driving section can be determined according to the parameters of each driving section and the corresponding planned speed. It is understandable that the target speed is the maximum speed that the vehicle can reach in each driving section during the actual driving process. By determining the target speed, the maximum speed of the vehicle during the actual driving process can be constrained in combination with the specific parameters of each driving section and the planned speed, so as to avoid driving accidents caused by excessive vehicle speed, thereby ensuring the safe driving of the vehicle.

[0014] Furthermore, after determining the target speed of each driving section, a target curve can be generated according to the order of the multiple driving sections in the driving path and the corresponding target speeds. The target curve can intuitively reflect the speed change of the vehicle for each driving section during the driving process. Then, the multiple target curves are spliced ​​to generate a speed curve of the vehicle in the driving path. By splicing the multiple target curves, the smoothness of the speed change between two adjacent driving sections of the vehicle can be ensured, and the vehicle speed change is prevented from being too fast, which may cause the vehicle to be unstable during driving, thereby ensuring safe and stable driving of the vehicle.

[0015] The vehicle speed planning method provided by the present invention obtains multiple driving sections in the driving path of the vehicle, and determines the target speed of each driving section of the vehicle during the actual driving process according to the parameters of each driving section and the corresponding planned speed, that is, the maximum speed that the vehicle can reach in each driving section. The maximum speed of the vehicle during the actual driving process can be constrained in combination with the specific parameters of each driving section and the planned speed, so as to avoid driving accidents caused by excessive vehicle speed, thereby ensuring the safe driving of the vehicle. Further, a target curve is determined according to each target speed, and multiple target curves are spliced ​​for speed, so as to ensure the smoothness of the speed change between two adjacent driving sections of the vehicle, avoid the vehicle speed change too fast and cause the vehicle driving process to be unstable, thereby ensuring the safe and stable driving of the vehicle. Compared with the related art of using high-precision map analysis to plan the vehicle speed, the speed planning by generating a target curve and performing speed splicing on the target curve can effectively improve the efficiency of the vehicle speed planning process.

[0016] In addition, the vehicle speed planning method in the above technical solution provided by the present invention may also have the following additional technical features:

[0017] In some technical solutions, multiple target curves are optionally spliced ​​at speed to generate a speed curve of the vehicle in the driving path, including: obtaining two adjacent first target curves and a second target curve from the multiple target curves; when the speed value corresponding to the first target curve is less than the speed value corresponding to the second target curve, using a speed curve corresponding to uniformly accelerated motion to connect the end point of the first target curve and the first target point in the second target curve; wherein the length between the first target point and the starting point of the second target curve is determined according to the length of the second target curve.

[0018] In some technical solutions, optionally, multiple target curves are spliced ​​at speed to generate a speed curve of the vehicle in the driving path, and also include: when the speed value corresponding to the first target curve is greater than the speed value corresponding to the second target curve, the speed curve corresponding to the uniformly accelerated motion is used to connect the starting point of the second target curve and the second target point in the first target curve; wherein the length between the second target point and the end point of the first target curve is determined according to the length of the first target curve.

[0019] In some technical solutions, optionally, before splicing multiple target curves for speed to generate a speed curve of the vehicle in the driving path, the speed planning method also includes: determining a fluctuation curve among the multiple target curves; and smoothing the fluctuation curve.

[0020] In some technical solutions, optionally, among multiple target curves, determining a fluctuation curve includes: traversing the speed values corresponding to the starting points and ending points of the multiple target curves; obtaining any four consecutive reference points among the starting points and ending points of the multiple target curves; where the four reference points include a first reference point, a second reference point, a third reference point, and a fourth reference point arranged in sequence; when the speed values of the four reference points meet a preset condition, determining the target curve between the second reference point and the third reference point as the fluctuation curve; where the preset condition includes Va > Vb, Vb ≤ Vc, and Vc < Vd, or Va < Vb, Vb ≥ Vc, and Vc > Vd, Va is the speed value of the first reference point, Vb is the speed value of the second reference point, Vc is the speed value of the third reference point, and Vd is the speed value of the fourth reference point.

[0021] In some technical solutions, optionally, smoothing the fluctuation curve includes: decreasing or increasing the speed value corresponding to the fluctuation curve; or connecting the fluctuation curve to an adjacent target curve using a speed curve corresponding to uniformly variable motion.

[0022] In some technical solutions, optionally, the speed planning method further includes: using a preset algorithm to smooth the speed curve.

[0023] In some technical solutions, optionally, dividing the driving path into multiple driving segments according to the parameters of the vehicle's driving path includes: obtaining the pitch angle of the driving path; dividing the driving path into uphill segments and flat segments according to the pitch angle; when the length of the flat segment is less than or equal to a length threshold, integrating the flat segment into the adjacent uphill segment.

[0024] In some technical solutions, optionally, the uphill segment includes an uphill section and a downhill section. Determining the target speed of each driving segment according to the parameters of the driving segment and the planned speed includes: obtaining multiple first pitch angles of the uphill section, fitting the multiple first pitch angles to generate a first reference pitch angle; determining the first target speed corresponding to the uphill section according to the vehicle's performance parameters, the first reference pitch angle, and the planned speed; obtaining multiple second pitch angles of the downhill section, fitting the multiple second pitch angles to generate a second reference pitch angle; determining the second target speed corresponding to the downhill section according to the second reference pitch angle and the planned speed; where the second target speed is less than the planned speed.

[0025] In some technical solutions, optionally, the driving path is divided into multiple driving sections according to the parameters of the vehicle's driving path, including: obtaining the curvature value of the driving path; dividing the driving path into straight sections and curved sections according to the curvature value; determining the target speed of each driving section according to the parameters of the driving section and the planned speed, including: determining the third target speed corresponding to the curved section according to the performance parameters of the vehicle, the curvature value of the curved section and the planned speed.

[0026] In some technical schemes, optionally, the driving path is divided into multiple driving sections according to the parameters of the vehicle's driving path, including: obtaining multiple width values ​​of the driving path; dividing the driving path into wide road sections and narrow road sections according to the multiple width values ​​of the driving path; determining the target speed of each driving section according to the parameters of the driving section and the planned speed, including: fitting the multiple width values ​​of the driving path to generate a reference width value; determining a speed reduction ratio according to the width value of the narrow road section and the reference width value; and determining a fourth target speed corresponding to the narrow road section according to the speed reduction ratio and the planned speed.

[0027] In some technical solutions, optionally, the driving section also includes a starting section and an end section. The target speed of each driving section is determined according to the parameters of the driving section and the planned speed, including: determining the starting distance according to the maximum starting acceleration and the planned speed of the vehicle; determining the fifth target speed corresponding to the starting section according to the starting distance and the acceleration information of the vehicle; determining the stopping distance according to the maximum stopping acceleration and the planned speed of the vehicle; and determining the sixth target speed corresponding to the end section according to the stopping distance and the acceleration information of the vehicle.

[0028] In some technical solutions, optionally, the speed planning method also includes: obtaining an expected duration of the vehicle's travel in the driving path; and adjusting the speed curve according to the expected duration and a target duration corresponding to the planned speed.

[0029] According to a second aspect of the present invention, a vehicle speed planning device is proposed, comprising: a division unit, for dividing a driving path into a plurality of driving sections according to the parameters of the vehicle's driving path; an acquisition unit, for acquiring the planned speed of the vehicle in each driving section; a determination unit, for determining a target speed for each driving section according to the parameters of the driving section and the planned speed; a generation unit, for generating a plurality of target curves according to the sequence of the plurality of driving sections and the target speed; and speed splicing the plurality of target curves to generate a speed curve of the vehicle in the driving path.

[0030] The vehicle speed planning device provided by the present invention obtains multiple driving sections in the driving path of the vehicle, and determines the target speed of each driving section of the vehicle during the actual driving process according to the parameters of each driving section and the corresponding planned speed. That is, the maximum speed that the vehicle can reach in each driving section can be combined with the specific parameters of each driving section and the planned speed to constrain the maximum speed of the vehicle during the actual driving process, thereby avoiding driving accidents caused by excessive vehicle speed, thereby ensuring the safe driving of the vehicle. Further, a target curve is determined according to each target speed, and multiple target curves are spliced ​​for speed, which can ensure the smoothness of the speed change between two adjacent driving sections of the vehicle, avoid the vehicle speed change too fast and cause the vehicle driving process to be unstable, thereby ensuring the safe and stable driving of the vehicle. Compared with the related art of using high-precision map analysis to plan the vehicle speed, the speed planning by generating a target curve and performing speed splicing on the target curve can effectively improve the efficiency of the vehicle speed planning process.

[0031] In some technical schemes, optionally, the generation unit is specifically used to: obtain two adjacent first target curves and a second target curve from multiple target curves; when the speed value corresponding to the first target curve is less than the speed value corresponding to the second target curve, use a speed curve corresponding to uniformly accelerated motion to connect the end point of the first target curve and the first target point in the second target curve; wherein the length between the first target point and the starting point of the second target curve is determined according to the length of the second target curve.

[0032] In some technical schemes, optionally, the generation unit is also specifically used to: when the speed value corresponding to the first target curve is greater than the speed value corresponding to the second target curve, use the speed curve corresponding to the uniformly accelerated motion to connect the starting point of the second target curve and the second target point in the first target curve; wherein the length between the second target point and the end point of the first target curve is determined according to the length of the first target curve.

[0033] In some technical solutions, optionally, the determination unit is further used to: determine a fluctuation curve among multiple target curves; the speed planning method also includes a processing unit for smoothing the fluctuation curve.

[0034] In some technical solutions, optionally, the determining unit is specifically configured to: traverse the speed values corresponding to the starting points and ending points of multiple target curves; obtain any four consecutive reference points among the starting points and ending points of the multiple target curves; wherein the four reference points include a first reference point, a second reference point, a third reference point, and a fourth reference point arranged in sequence; when the speed values of the four reference points meet a preset condition, determine the target curve between the second reference point and the third reference point as a fluctuating curve; wherein the preset condition includes Va > Vb, Vb ≤ Vc, and Vc < Vd, or Va < Vb, Vb ≥ Vc, and Vc > Vd, where Va is the speed value of the first reference point, Vb is the speed value of the second reference point, Vc is the speed value of the third reference point, and Vd is the speed value of the fourth reference point.

[0035] In some technical solutions, optionally, the processing unit is further specifically configured to: decrease or increase the speed value corresponding to the fluctuating curve; or connect the fluctuating curve and the adjacent target curve with a speed curve corresponding to a uniformly variable motion.

[0036] In some technical solutions, optionally, the processing unit is further configured to perform a smoothing process on the speed curve by using a preset algorithm.

[0037] In some technical solutions, optionally, the dividing unit is specifically configured to: obtain the pitch angle of the driving path; divide the driving path into a slope section and a flat section according to the pitch angle; when the length of the flat section is less than or equal to a length threshold, integrate the flat section into the adjacent slope section.

[0038] In some technical solutions, optionally, the determining unit is specifically configured to: obtain multiple first pitch angles of the uphill section, fit the multiple first pitch angles to generate a first reference pitch angle; determine a first target speed corresponding to the uphill section according to the vehicle's performance parameters, the first reference pitch angle, and the planned speed; obtain multiple second pitch angles of the downhill section, fit the multiple second pitch angles to generate a second reference pitch angle; determine a second target speed corresponding to the downhill section according to the second reference pitch angle and the planned speed; wherein the second target speed is less than the planned speed.

[0039] In some technical solutions, optionally, the dividing unit is further specifically configured to: obtain the curvature value of the driving path; divide the driving path into a straight section and a curved section according to the curvature value; the determining unit is further specifically configured to: determine a third target speed corresponding to the curved section according to the vehicle's performance parameters, the curvature value of the curved section, and the planned speed.

[0040] In some technical schemes, optionally, the division unit is also specifically used to: obtain multiple width values ​​of the driving path; divide the driving path into wide road sections and narrow road sections according to the multiple width values ​​of the driving path; the determination unit is also specifically used to: fit the multiple width values ​​of the driving path to generate a reference width value; determine the speed reduction ratio according to the width value of the narrow road section and the reference width value; determine the fourth target speed corresponding to the narrow road section according to the speed reduction ratio and the planned speed.

[0041] In some technical solutions, optionally, the driving section also includes a starting section and an end section, and the determination unit is specifically used to: determine the starting distance according to the maximum starting acceleration and planned speed of the vehicle; determine the fifth target speed corresponding to the starting section according to the starting distance and the acceleration information of the vehicle; determine the stopping distance according to the maximum stopping acceleration and planned speed of the vehicle; determine the sixth target speed corresponding to the end section according to the stopping distance and the acceleration information of the vehicle.

[0042] In some technical solutions, optionally, the generating unit is also used to: obtain a target duration for the vehicle to travel in the driving path; and adjust the speed curve according to the target duration corresponding to the expected duration and the planned speed.

[0043] According to a third aspect of the present application, an electronic device is proposed, comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the vehicle speed planning method as in the first aspect are implemented.

[0044] According to a fourth aspect of the present application, a readable storage medium is proposed, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the vehicle speed planning method as in the first aspect are implemented.

[0045] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0047] Figure 1 A schematic diagram of a flow chart of a vehicle speed planning method according to an embodiment of the present invention is shown;

[0048] Figure 2 A second flow chart of a vehicle speed planning method according to an embodiment of the present invention is shown;

[0049] Figure 3 A schematic diagram showing multiple target curves according to an embodiment of the present invention;

[0050] Figure 4 One of the schematic diagrams showing a speed curve of a vehicle in a vehicle speed planning method according to an embodiment of the present invention;

[0051] Figure 5 A schematic diagram showing an acceleration curve of a vehicle in a vehicle speed planning method according to an embodiment of the present invention;

[0052] Figure 6 A second schematic diagram showing a speed curve of a vehicle in a vehicle speed planning method according to an embodiment of the present invention;

[0053] Figure 7 A structural block diagram of a vehicle speed planning device according to an embodiment of the present invention is shown;

[0054] Figure 8 A structural block diagram of an electronic device according to another embodiment of the present invention is shown.

[0055] Reference numerals:

[0056] 300 is a speed planning device for a vehicle, 302 is a division unit, 304 is an acquisition unit, 306 is a determination unit, 308 is a generation unit, 400 is an electronic device, 402 is a processor, and 404 is a memory. DETAILED DESCRIPTION

[0057] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0058] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0059] Refer to the following Figures 1 to 8 A vehicle speed planning method, device, electronic device and readable storage medium according to some embodiments of the present invention are described.

[0060] like Figure 1 As shown, according to one embodiment of the present invention, a vehicle speed planning method is proposed, the vehicle speed planning method is used to determine the position of mining equipment in a tunnel through electronic equipment, the electronic equipment includes a spherical target, which is used to be set on the top wall of the tunnel; multiple laser radars, which are used to be set on the mining equipment, and the vehicle speed planning method includes:

[0061] S102, dividing the driving path into a plurality of driving sections according to the parameters of the driving path of the vehicle;

[0062] S104, obtaining the planned speed of the vehicle in each driving section;

[0063] S106, determining a target speed for each driving section according to the parameters of the driving section and the planned speed;

[0064] S108, generating multiple target curves according to the sequence of the multiple driving sections and the target speed;

[0065] S110, performing speed splicing on a plurality of target curves to generate a speed curve of the vehicle in the driving path.

[0066] The vehicle speed planning method provided by the present invention can be used to plan the vehicle's driving speed during the driving of a mining unmanned vehicle on a driving path, so that the vehicle's global speed meets constraints such as curvature, ramp, road width, control accuracy, etc., and meets requirements such as safety, comfort, and fuel economy.

[0067] First, the driving path is divided into multiple driving sections according to the parameters of the vehicle's driving path. Specifically, the driving path may include a variety of different driving sections, such as uphill sections, downhill sections, curved sections, wide sections, narrow sections, etc. Different speed plans need to be made for different driving sections to ensure the stability of the vehicle's driving during the connection process of different sections, while ensuring the speed of the vehicle, thereby meeting the requirements of safety, comfort, fuel economy, etc.

[0068] Furthermore, the planned speed of the vehicle in each driving section is obtained. It can be understood that the planned speed refers to the speed planned according to ideal vehicle parameters and environmental parameters before the vehicle actually drives. During the actual driving of the vehicle, it is necessary to further adjust the planned speed according to the actual parameters of the vehicle and the actual environmental parameters to meet various actual conditions during the actual driving of the vehicle and ensure the safe and stable operation of the vehicle.

[0069] Furthermore, after determining a plurality of driving sections and the corresponding planned speeds for each driving section, the target speed for each driving section can be determined according to the parameters of each driving section and the corresponding planned speed. It is understandable that the target speed is the maximum speed that the vehicle can reach in each driving section during the actual driving process. By determining the target speed, the maximum speed of the vehicle during the actual driving process can be constrained in combination with the specific parameters of each driving section and the planned speed, so as to avoid driving accidents caused by excessive vehicle speed, thereby ensuring the safe driving of the vehicle.

[0070] Furthermore, after determining the target speed of each driving section, a target curve can be generated according to the order of the multiple driving sections in the driving path and the corresponding target speeds. The target curve can intuitively reflect the speed change of the vehicle for each driving section during the driving process. Then, the multiple target curves are spliced ​​to generate a speed curve of the vehicle in the driving path. By splicing the multiple target curves, the smoothness of the speed change between two adjacent driving sections of the vehicle can be ensured, and the vehicle speed change is prevented from being too fast, which may cause the vehicle to be unstable during driving, thereby ensuring safe and stable driving of the vehicle.

[0071] The vehicle speed planning method provided by the present invention obtains multiple driving sections in the driving path of the vehicle, and determines the target speed of each driving section of the vehicle during the actual driving process according to the parameters of each driving section and the corresponding planned speed, that is, the maximum speed that the vehicle can reach in each driving section. The maximum speed of the vehicle during the actual driving process can be constrained in combination with the specific parameters of each driving section and the planned speed, so as to avoid driving accidents caused by excessive vehicle speed, thereby ensuring the safe driving of the vehicle. Further, a target curve is determined according to each target speed, and multiple target curves are spliced ​​for speed, so as to ensure the smoothness of the speed change between two adjacent driving sections of the vehicle, avoid the vehicle speed change too fast and cause the vehicle driving process to be unstable, thereby ensuring the safe and stable driving of the vehicle. Compared with the related art of using high-precision map analysis to plan the vehicle speed, the speed planning by generating a target curve and performing speed splicing on the target curve can effectively improve the efficiency of the vehicle speed planning process.

[0072] In some embodiments, optionally, multiple target curves are spliced ​​at speed to generate a speed curve of the vehicle in the driving path, including: obtaining two adjacent first target curves and a second target curve from the multiple target curves; when the speed value corresponding to the first target curve is less than the speed value corresponding to the second target curve, using the speed curve corresponding to the uniformly accelerated motion to connect the end point of the first target curve and the first target point in the second target curve; wherein the length between the first target point and the starting point of the second target curve is determined according to the length of the second target curve.

[0073] In this embodiment, in the process of speed splicing of multiple target curves, the speed curve corresponding to the uniformly variable cloud top can be used for splicing. Specifically, firstly, adjacent first target curves and second target curves are obtained from the multiple target curves, and then the magnitude relationship between the speed value corresponding to the first target curve and the speed value corresponding to the second target curve is determined.

[0074] When the speed value corresponding to the first target curve is less than the speed value corresponding to the second target curve, the speed curve corresponding to the uniformly accelerated motion can be used to connect the end point of the first target curve and the first target point in the second target curve. Figure 3 As shown in FIG. 1 , the speed curve corresponding to the uniformly accelerated motion starts from the end point a of the first target curve and extends to the first target point c on the second target curve, thereby realizing the speed splicing between the first target curve and the second target curve. Figure 3 In the figure, the ordinate represents the speed value, and the abscissa represents the index value, and the index value gradually increases with the change of speed.

[0075] It should be noted that, on the second target curve, the length between the first target point c and the starting point b of the second target curve needs to be set according to the overall length of the second target curve, that is, the length between b and d. Specifically, the length between the first target point c and the starting point b of the second target curve can be set to be less than or equal to one third of the overall length of the second target curve. In this way, during the transition from the speed value corresponding to the first target curve to the speed value corresponding to the second target curve, the vehicle can be accelerated at a steady acceleration, thereby ensuring the smoothness of the connection between the two driving sections, thereby ensuring the safe and smooth driving of the vehicle.

[0076] In addition, this splicing method can be used to perform speed splicing on other two adjacent target curves.

[0077] Furthermore, in some embodiments, optionally, multiple target curves are spliced ​​at speed to generate a speed curve of the vehicle in the driving path, which also includes: when the speed value corresponding to the first target curve is greater than the speed value corresponding to the second target curve, the speed curve corresponding to the uniformly accelerated motion is used to connect the starting point of the second target curve and the second target point in the first target curve; wherein the length between the second target point and the end point of the first target curve is determined according to the length of the first target curve.

[0078] Specifically, in the case where the speed value corresponding to the first target curve is greater than the speed value of the second target curve, the speed curve corresponding to the uniformly accelerated motion can be used to connect the starting point of the second target curve and the second target point in the first target curve. Figure 3 As shown, the speed curve corresponding to the uniformly accelerated motion starts from the starting point h of the second target curve and extends to the second target point f on the first target curve, thereby realizing the speed splicing between the first target curve and the second target curve.

[0079] It should be noted that on the first target curve, the length between the second target point f and the end point g of the first target curve needs to be set according to the overall length of the first target curve, that is, the length between e and g. Specifically, the length between the second target point and the start point of the first target curve can be set to be less than or equal to one-third of the overall length of the first target curve. In this way, when the vehicle's speed transitions from the speed value corresponding to the first target curve to the speed value corresponding to the second target curve, it can ensure that the vehicle accelerates with a stable acceleration, thereby ensuring the smoothness of the connection between the two driving sections, and further ensuring the safe and smooth driving of the vehicle.

[0080] In addition, for the speed splicing of any other two adjacent target curves, this splicing method can be used for speed splicing.

[0081] In some embodiments, optionally, before splicing the speeds of multiple target curves to generate the speed curve of the vehicle in the driving path, the speed planning method further includes: determining a fluctuation curve among the multiple target curves; and smoothing the fluctuation curve.

[0082] In this embodiment, before splicing the speeds of multiple target curves, a fluctuation curve can also be determined among the multiple target curves. It should be noted that a fluctuation curve refers to a target curve with a relatively short duration and a relatively large difference between the speed value corresponding to this target curve and the speed values corresponding to the two adjacent target curves on the left and right.

[0083] Furthermore, after determining the fluctuation curve, the fluctuation curve can be smoothed. Specifically, the duration of the fluctuation curve can be increased, or the gap between the speed value of the fluctuation curve and the speed values corresponding to the two adjacent target curves on the left and right can be reduced, so as to ensure the smoothness of the vehicle when driving through the driving section corresponding to the fluctuation curve.

[0084] Furthermore, determining a fluctuation curve among multiple target curves includes: traversing the speed values corresponding to the start points and end points of the multiple target curves; obtaining any four consecutive reference points among the start points and end points of the multiple target curves; where the four reference points include a first reference point, a second reference point, a third reference point, and a fourth reference point arranged in sequence; when the speed values of the four reference points meet a preset condition, determining the target curve between the second reference point and the third reference point as the fluctuation curve; where the preset condition includes Va > Vb, Vb ≤ Vc and Vc < Vd, or Va < Vb, Vb ≥ Vc and Vc > Vd, Va is the speed value of the first reference point, Vb is the speed value of the second reference point, Vc is the speed value of the third reference point, and Vd is the speed value of the fourth reference point.

[0085] Specifically, in the process of determining the fluctuation curve, first, the speed values corresponding to the starting points and ending points of multiple target curves can be traversed. Then, among multiple starting points and ending points, four consecutive reference points are arbitrarily selected, and the speed values of these four reference points are compared to determine the comparison result. Finally, according to whether the comparison result meets the preset conditions, it is judged whether there is a fluctuation curve among these four reference points.

[0086] Exemplarily, as Figure 3 shown, four consecutive reference points are selected, namely the first reference point, the second reference point, the third reference point, and the fourth reference point. Among them, the speed value of the first reference point is Va, the speed value of the second reference point is Vb, the speed value of the third reference point is Vc, and the speed value of the fourth reference point is Vd. If Va, Vb, Vc, and Vd satisfy Va > Vb, Vb ≤ Vc, and Vc < Vd, then it can be determined that the target curve between the second reference point and the third reference point is a fluctuation curve. As can be seen from the figure, the shape of this fluctuation curve is similar to the W shape.

[0087] Or, if Va, Vb, Vc, and Vd satisfy Va < Vb, Vb ≥ Vc, and Vc > V, then it can be determined that the target curve between the second reference point and the third reference point is a fluctuation curve. As can be seen from the figure, the shape of this fluctuation curve is similar to the M shape.

[0088] Furthermore, smoothing the fluctuation curve includes: decreasing or increasing the speed value corresponding to the fluctuation curve; or connecting the fluctuation curve with the adjacent target curve using the speed curve corresponding to uniformly variable motion.

[0089] Specifically, the fluctuation curve can be smoothed by decreasing or increasing the speed value corresponding to the fluctuation curve. That is, when the speed values of the two target curves adjacent to the left and right of the fluctuation curve are less than the speed value corresponding to the fluctuation curve, the speed value corresponding to the fluctuation curve can be decreased or increased so that the speed value of the fluctuation curve is close to the speed values of the adjacent target curves. When the speed values of the two target curves adjacent to the left and right of the fluctuation curve are greater than the speed value corresponding to the fluctuation curve, the speed value corresponding to the fluctuation curve can be increased so that the speed value of the fluctuation curve is close to the speed values of the adjacent target curves. Thus, when the vehicle travels to the driving section corresponding to the fluctuation curve, the change amount of the vehicle speed is reduced, and the smooth operation of the vehicle is ensured.

[0090] In addition, the speed curve corresponding to uniformly variable motion can also be used to splice the fluctuation curve with the adjacent target curve, thereby improving the smoothness of the speed value transition between the fluctuation curve and the adjacent target curve, enabling the change amount of the vehicle speed to be relatively slow when the vehicle travels to the driving section corresponding to the fluctuation curve, and ensuring the smooth operation of the vehicle.

[0091] In some embodiments, optionally, the speed planning method further includes: using a preset algorithm to smooth the speed curve.

[0092] In this embodiment, after generating the speed curve of the vehicle in the driving path, a preset algorithm can be further used to further smooth the driving path, so that the speed change process of the vehicle in the driving path is smoother, so as to further improve the stability and safety of the vehicle during driving.

[0093] Specifically, the preset algorithm may be a conjugate gradient method, that is, the conjugate gradient method may be used to further smooth the speed curve, thereby further improving the stability and safety of the vehicle during driving.

[0094] In some embodiments, optionally, the driving path is divided into multiple driving sections according to the parameters of the vehicle's driving path, including: obtaining the pitch angle of the driving path; dividing the driving path into a slope section and a flat section according to the pitch angle; and when the length of the flat section is less than or equal to a length threshold, integrating the flat section into an adjacent slope section.

[0095] In the technical solution, the parameters of the driving path may include the pitch angle of the driving path, and the driving path may be divided into a slope section and a flat section according to the pitch angle of the driving path. Specifically, based on the horizontal direction, when the pitch angle is greater than 0 degrees, the section is determined to be an uphill section, and when the pitch angle is less than 0 degrees, the section is determined to be a downhill section.

[0096] Furthermore, the flat road section and its adjacent slope section may be integrated according to the length of the flat road section, thereby reducing the number of driving sections, thereby reducing the number of speed changes of the vehicle during driving, and improving the stability of the vehicle during driving.

[0097] Specifically, when the length of the flat road section is less than or equal to a length threshold, the flat road section can be integrated into the ramp road section adjacent thereto. The length threshold can be set according to the overall length of the driving path or according to the length of the ramp road section.

[0098] Furthermore, the slope section includes an uphill section and a downhill section, and the target speed of each driving section is determined according to the parameters of the driving section and the planned speed, including: obtaining multiple first pitch angles of the uphill section, fitting the multiple first pitch angles to generate a first reference pitch angle; determining the first target speed corresponding to the uphill section according to the performance parameters of the vehicle, the first reference pitch angle and the planned speed; obtaining multiple second pitch angles of the downhill section, fitting the multiple second pitch angles to generate a second reference pitch angle; determining the second target speed corresponding to the downhill section according to the second reference pitch angle and the planned speed; wherein the second target speed is less than the planned speed.

[0099] Specifically, the ramp section may include an uphill section and a downhill section. For the uphill section, in the process of determining the target speed corresponding thereto, first, a plurality of first pitch angles of the uphill section may be obtained. It is understandable that in the uphill section, there may be a plurality of different pitch angles, that is, in an overall uphill section, there may be a plurality of sections with different slopes, and these sections with different slopes correspond to different pitch angles, that is, a plurality of first pitch angles. Then, the plurality of first pitch angles are fitted to generate a first reference pitch angle. By fitting the plurality of first pitch angles, the amount of calculation in the target speed calculation process can be reduced, the calculation efficiency of the target speed can be improved, and the efficiency of speed planning can be improved. Finally, the first target speed corresponding to the uphill section is determined according to the performance parameters of the vehicle, the first reference pitch angle and the planned speed. Among them, the performance parameters of the vehicle can be the extreme climbing performance curve of the vehicle.

[0100] Further, for a downhill section, in the process of determining the target speed corresponding thereto, first, a plurality of second pitch angles of the downhill section can be obtained. It is understandable that in a downhill section, there may be a plurality of different pitch angles, that is, in an overall downhill section, there may be a plurality of sections with different slopes, and these sections with different slopes correspond to different pitch angles, that is, a plurality of second pitch angles. Then, the plurality of second pitch angles are fitted to generate a second reference pitch angle. By fitting the plurality of second pitch angles, the amount of calculation in the target speed calculation process can be reduced, the calculation efficiency of the target speed can be improved, and the efficiency of speed planning can be improved. Finally, the second target speed corresponding to the downhill section is determined according to the second reference pitch angle and the planned speed. It should be noted that the second target speed can be less than the planned speed, so that the gravity of the vehicle itself can be used to make the vehicle's driving speed reach the planned speed, thereby achieving the purpose of saving vehicle energy consumption.

[0101] In some embodiments, optionally, according to the parameters of the vehicle's driving path, the driving path is divided into multiple driving sections, including: obtaining the curvature value of the driving path; dividing the driving path into straight sections and curved sections according to the curvature value; determining the target speed of each driving section according to the parameters of the driving section and the planned speed, including: determining a third target speed corresponding to the curved section according to the performance parameters of the vehicle, the curvature value of the curved section and the planned speed.

[0102] In this embodiment, the parameters of the vehicle's driving path may also include a curvature value of the driving path. According to the curvature value of the driving path, the driving path may be divided into a straight section and a curved section. Specifically, a curvature value threshold may be set to achieve the division of a straight section into a curved section. When the curvature value of the driving path is greater than or equal to the curvature value threshold, the section of the path may be divided into a curved section. On the contrary, when the curvature value of the driving path is less than the curvature value threshold, the section of the path may be divided into a straight section. In addition, after determining the curvature value of the driving path, the continuous interval of the curvature value may be determined according to the continuity of the curvature value, and the scattered small intervals may be integrated to reduce the number of driving sections, thereby reducing the number of speed changes of the vehicle during driving, thereby improving the stability of the vehicle during driving.

[0103] Furthermore, for the curved road section, the third target speed corresponding to the curved road section can be determined according to the performance parameters of the vehicle, the curvature value of the curved road section and the planned speed. The performance parameters of the vehicle can be parameters such as the lateral tracking accuracy of the vehicle and the centripetal acceleration threshold.

[0104] Furthermore, the target speed of the driving section can be determined for the case where the curved road section and the ramp road section are superimposed. That is, for a driving section that is both a curved road section and a ramp road section, the target speed for the ramp road section and the target speed for the ramp road section can be obtained respectively. For example, for a driving section that is both an uphill section and a curved road section, the first target speed for the uphill section and the third target speed for the curved road section can be obtained, and then the smaller one of the first target speed and the third target speed is used as the target speed of the driving section, so as to ensure the stability and safety of the vehicle during driving in the driving section.

[0105] In some embodiments, optionally, the driving path is divided into multiple driving sections according to the parameters of the vehicle's driving path, including: obtaining multiple width values ​​of the driving path; dividing the driving path into wide road sections and narrow road sections according to the multiple width values ​​of the driving path; determining the target speed of each driving section according to the parameters of the driving section and the planned speed, including: fitting the multiple width values ​​of the driving path to generate a reference width value; determining a speed reduction ratio according to the width value of the narrow road section and the reference width value; and determining a fourth target speed corresponding to the narrow road section according to the speed reduction ratio and the planned speed.

[0106] In this embodiment, the parameters of the driving path may also include a width value of the driving path. It is understood that the width value of the driving path can directly affect the maximum speed of the vehicle during driving. Specifically, the driving path may be divided into wide road sections and narrow road sections according to the width value of the driving path.

[0107] Furthermore, for the narrow road section, firstly, multiple width values ​​of the driving path may be fitted to generate a reference width value, wherein the reference width value may be the average width of the driving path. Then, the speed reduction ratio is determined according to the width value of the narrow road section and the reference width value, and finally, the fourth target speed of the narrow road section is determined according to the speed reduction ratio and the planned speed.

[0108] Specifically, according to the formula:

[0109] K = 1-(W1-W2)÷W1;

[0110] To calculate the speed reduction ratio, K is the speed reduction ratio, W1 is the reference width value, and W2 is the width value of the narrow road section.

[0111] Then, the planned speed is multiplied by the speed reduction ratio to obtain the fourth target speed corresponding to the narrow road section.

[0112] In some embodiments, optionally, the driving section also includes a starting section and an end section. The target speed of each driving section is determined according to the parameters of the driving section and the planned speed, including: determining the starting distance according to the maximum starting acceleration and the planned speed of the vehicle; determining the fifth target speed corresponding to the starting section according to the starting distance and the acceleration information of the vehicle; determining the stopping distance according to the maximum parking acceleration and the planned speed of the vehicle; and determining the sixth target speed corresponding to the end section according to the parking distance and the acceleration information of the vehicle.

[0113] In this embodiment, the driving section further includes a starting section and an end section. It can be understood that the starting section is the section at the beginning of the driving path, and the end section is the section at the end of the driving path.

[0114] For the starting section, the starting distance is first determined according to the maximum starting acceleration and the planned speed of the vehicle, and then the fifth target speed of the starting section is determined according to the starting distance and the acceleration information of the vehicle. The acceleration information of the vehicle may be the maximum smooth acceleration of the vehicle, that is, the stability of the acceleration change of the vehicle is ensured. Specifically, the starting speed of the vehicle may be determined by a fifth-order polynomial, that is, the acceleration of the vehicle is controlled to increase gradually, so that the speed of the vehicle gradually increases until the speed of the vehicle reaches the fifth target speed.

[0115] For the terminal section, the parking distance can be determined first according to the maximum parking acceleration and the planned speed of the vehicle, and then the sixth target speed of the terminal section can be determined according to the parking distance and the acceleration information of the vehicle. Among them, the acceleration information of the vehicle can be the maximum smooth acceleration of the vehicle, that is, to ensure the smoothness of the acceleration change of the vehicle. Specifically, the parking speed of the vehicle can be determined by a fifth-order polynomial, that is, the acceleration of the vehicle is controlled to gradually decrease, so that the speed of the vehicle gradually decreases until the speed of the vehicle reaches zero.

[0116] In some embodiments, optionally, the speed planning method further includes: obtaining an expected duration of travel of the vehicle in the driving path; and adjusting the speed curve according to the expected duration and a target duration corresponding to the planned speed.

[0117] In this embodiment, after the speed curve of the vehicle is generated, the expected duration of the vehicle in the driving path may also be obtained, and then the speed curve may be adjusted according to the expected duration and the target duration corresponding to the speed curve.

[0118] It is understandable that after the speed curve of the vehicle is generated, the target duration of the vehicle when driving at the speed curve can be determined based on the speed curve. However, in the actual driving process, due to the influence of the vehicle's own parameters or environmental parameters, the expected duration consumed by the vehicle in the driving path may deviate from the target duration corresponding to the speed curve. In this case, the speed curve can be adjusted according to the expected duration and the target duration to ensure that the vehicle can meet the vehicle's own parameter requirements or meet environmental requirements during the actual driving process, and ensure the smooth and safe driving of the vehicle.

[0119] For example, Figure 6 As shown, when rain or snow occurs on the driving route, in order to ensure the safe driving of the vehicle, the expected duration of the vehicle's driving can be set to be less than the target duration corresponding to the speed curve. Then, based on the expected duration and the target duration, the speed of at least a part of the speed curve can be reduced, thereby avoiding accidents caused by excessive vehicle speed in rain or snow.

[0120] In a specific embodiment, Figure 2As shown, a vehicle speed planning method is proposed, including:

[0121] S202, extracting multiple driving sections in the driving route;

[0122] S204, setting a target speed for the slope section;

[0123] S206, setting a target speed for the curved road section;

[0124] S208, setting a target speed for the narrow road section;

[0125] S210, setting a target speed for the starting section;

[0126] S212, setting a target speed for the terminal section;

[0127] S214, smoothing the speed of the fluctuating road section;

[0128] S216, combining target speeds of multiple driving sections;

[0129] S218, eliminating unreasonable speeds among the multiple target speeds;

[0130] S220, smoothing the spliced ​​target speed;

[0131] S222: Adjust the multiple target speeds after smoothing according to the expected duration.

[0132] Specifically, Figure 4 and Figure 5 As shown, compared with the speed planning method in the related art, the present application sets the target speeds for different driving sections, then splices multiple target speeds, and further smoothes the spliced ​​speed curve, so that the final speed curve can be smoother, thereby making the vehicle more stable and safe during driving. In addition, the speed planning method provided by the present application, during the actual driving process of the vehicle, the acceleration change process of the vehicle is also smoother than that in the related art, thereby ensuring that the vehicle is more stable and safe during acceleration and deceleration.

[0133] According to one embodiment of the present invention, Figure 7As shown, a vehicle speed planning device 300 is proposed, including: a division unit 302, used to divide the driving path into multiple driving sections according to the parameters of the vehicle's driving path; an acquisition unit 304, used to obtain the planned speed of the vehicle in each driving section; a determination unit 306, used to determine the target speed of each driving section according to the parameters of the driving section and the planned speed; a generation unit 308, used to generate multiple target curves according to the order of multiple driving sections and the target speed; and speed splicing the multiple target curves to generate a speed curve of the vehicle in the driving path.

[0134] The vehicle speed planning device 300 provided by the present invention obtains multiple driving sections in the driving path of the vehicle, and determines the target speed of each driving section of the vehicle during the actual driving process according to the parameters of each driving section and the corresponding planned speed. That is, the maximum speed that the vehicle can reach in each driving section can be combined with the specific parameters of each driving section and the planned speed to constrain the maximum speed of the vehicle during the actual driving process, thereby avoiding driving accidents caused by excessive vehicle speed, thereby ensuring the safe driving of the vehicle. Further, a target curve is determined according to each target speed, and multiple target curves are spliced ​​for speed, which can ensure the smoothness of the speed change between two adjacent driving sections of the vehicle, avoid the vehicle speed change too fast and cause the vehicle driving process to be unstable, thereby ensuring the safe and stable driving of the vehicle. Compared with the related art of using high-precision map analysis to plan the vehicle speed, the speed planning by generating a target curve and performing speed splicing on the target curve can effectively improve the efficiency of the vehicle speed planning process.

[0135] In some embodiments, optionally, the generation unit 308 is specifically used to: obtain two adjacent first target curves and a second target curve from multiple target curves; when the speed value corresponding to the first target curve is less than the speed value corresponding to the second target curve, use a speed curve corresponding to uniformly accelerated motion to connect the end point of the first target curve and the first target point in the second target curve; wherein the length between the first target point and the starting point of the second target curve is determined according to the length of the second target curve.

[0136] In some embodiments, optionally, the generation unit 308 is also specifically used to: when the speed value corresponding to the first target curve is greater than the speed value corresponding to the second target curve, use the speed curve corresponding to the uniformly accelerated motion to connect the starting point of the second target curve and the second target point in the first target curve; wherein the length between the second target point and the end point of the first target curve is determined based on the length of the first target curve.

[0137] In some embodiments, optionally, the determining unit 306 is further configured to: determine a fluctuating curve among a plurality of target curves; the speed planning method further includes a processing unit configured to smooth the fluctuating curve.

[0138] In some embodiments, optionally, the determining unit 306 is specifically configured to: traverse the speed values corresponding to the starting point and the ending point of a plurality of target curves; obtain any four consecutive reference points among the starting point and the ending point of the plurality of target curves; wherein the four reference points include a first reference point, a second reference point, a third reference point, and a fourth reference point arranged in sequence; when the speed values of the four reference points meet a preset condition, determine the target curve between the second reference point and the third reference point as the fluctuating curve; wherein the preset condition includes Va > Vb, Vb ≤ Vc, and Vc < Vd, or Va < Vb, Vb ≥ Vc, and Vc > Vd, Va is the speed value of the first reference point, Vb is the speed value of the second reference point, Vc is the speed value of the third reference point, and Vd is the speed value of the fourth reference point.

[0139] In some embodiments, optionally, the processing unit is specifically further configured to: decrease or increase the speed value corresponding to the fluctuating curve; or connect the fluctuating curve and an adjacent target curve with a speed curve corresponding to a uniformly variable motion.

[0140] In some embodiments, optionally, the processing unit is further configured to smooth the speed curve by using a preset algorithm.

[0141] In some embodiments, optionally, the dividing unit 302 is specifically configured to: obtain the pitch angle of the driving path; divide the driving path into a slope section and a flat section according to the pitch angle; when the length of the flat section is less than or equal to a length threshold, integrate the flat section into an adjacent slope section.

[0142] In some embodiments, optionally, the determining unit 306 is specifically configured to: obtain a plurality of first pitch angles of the uphill section, fit the plurality of first pitch angles to generate a first reference pitch angle; determine a first target speed corresponding to the uphill section according to the performance parameters of the vehicle, the first reference pitch angle, and the planned speed; obtain a plurality of second pitch angles of the downhill section, fit the plurality of second pitch angles to generate a second reference pitch angle; determine a second target speed corresponding to the downhill section according to the second reference pitch angle and the planned speed; wherein the second target speed is less than the planned speed.

[0143] In some embodiments, optionally, the dividing unit 302 is specifically further configured to: obtain the curvature value of the driving path; divide the driving path into a straight section and a curved section according to the curvature value; the determining unit 306 is specifically further configured to: determine a third target speed corresponding to the curved section according to the performance parameters of the vehicle, the curvature value of the curved section, and the planned speed.

[0144] In some embodiments, optionally, the division unit 302 is further used to: obtain multiple width values ​​of the driving path; divide the driving path into wide road sections and narrow road sections according to the multiple width values ​​of the driving path; the determination unit 306 is further used to: fit the multiple width values ​​of the driving path to generate a reference width value; determine the speed reduction ratio according to the width value of the narrow road section and the reference width value; determine the fourth target speed corresponding to the narrow road section according to the speed reduction ratio and the planned speed.

[0145] In some embodiments, optionally, the driving section also includes a starting section and an end section, and the determination unit 306 is specifically used to: determine the starting distance according to the maximum starting acceleration and the planned speed of the vehicle; determine the fifth target speed corresponding to the starting section according to the starting distance and the acceleration information of the vehicle; determine the stopping distance according to the maximum stopping acceleration and the planned speed of the vehicle; determine the sixth target speed corresponding to the end section according to the stopping distance and the acceleration information of the vehicle.

[0146] In some embodiments, optionally, the generation unit 308 is further used to: obtain a target duration for the vehicle to travel in the driving path; and adjust the speed curve according to the target duration corresponding to the expected duration and the planned speed.

[0147] According to one embodiment of the present application, Figure 8 As shown, an electronic device 400 is proposed, including a processor 402 and a memory 404, wherein the memory 404 stores programs or instructions that can be run on the processor 402, and when the programs or instructions are executed by the processor 402, the steps of the vehicle speed planning method as in any one of the above embodiments are implemented.

[0148] The electronic device 400 provided by the present invention includes a processor 402 and a memory 404. The memory 404 stores programs or instructions that can be run on the processor 402. When the programs or instructions are executed by the processor 402, the steps of the vehicle speed planning method as any one of the above-mentioned methods are implemented. Therefore, the electronic device 400 has all the beneficial effects of the steps of the vehicle speed planning method, which will not be repeated here.

[0149] According to one embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle speed planning method as in any one of the above embodiments are implemented.

[0150] The readable storage medium provided by the present invention implements the steps of the vehicle speed planning method as described in any one of the above embodiments when the program or instruction is executed by the processor. Therefore, the readable storage medium has all the beneficial effects of the steps of the above-mentioned vehicle speed planning method, which will not be repeated here.

[0151] In the present invention, the term "plurality" means at least two or more than two, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0152] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0153] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vehicle speed planning method, characterized in that: Including: Dividing the driving path into multiple driving segments according to the parameters of the driving path of the vehicle; Obtaining the planned speed of the vehicle in each of the driving segments; Determining the target speed of each of the driving segments according to the parameters of the driving segment and the planned speed; Generating multiple target curves according to the order of the multiple driving segments and the target speed; Performing speed splicing on the multiple target curves to generate a speed curve of the vehicle in the driving path.

2. The vehicle speed planning method according to claim 1, characterized in that: The performing speed splicing on the multiple target curves to generate a speed curve of the vehicle in the driving path includes: Obtaining two adjacent first target curves and a second target curve among the multiple target curves; When the speed value corresponding to the first target curve is less than the speed value corresponding to the second target curve, connecting the end point of the first target curve and a first target point in the second target curve by using a speed curve corresponding to uniform variable motion; Wherein, the length between the first target point and the starting point of the second target curve is determined according to the length of the second target curve.

3. The vehicle speed planning method according to claim 2, characterized in that: The performing speed splicing on the multiple target curves to generate a speed curve of the vehicle in the driving path further includes: When the speed value corresponding to the first target curve is greater than the speed value corresponding to the second target curve, connecting the starting point of the second target curve and a second target point in the first target curve by using a speed curve corresponding to uniform variable motion; Wherein, the length between the second target point and the end point of the first target curve is determined according to the length of the first target curve.

4. The vehicle speed planning method according to any one of claims 1 to 3, characterized in that: Before the performing speed splicing on the multiple target curves to generate a speed curve of the vehicle in the driving path, the speed planning method further includes: Determining a fluctuating curve among the multiple target curves; Performing smoothing processing on the fluctuating curve.

5. The vehicle speed planning method according to claim 4, characterized in that: The determining a fluctuating curve among the multiple target curves includes: Traversing the speed values corresponding to the starting points and end points of the multiple target curves; Obtaining any four consecutive reference points among the starting points and end points of the multiple target curves; Wherein, the four reference points include a first reference point, a second reference point, a third reference point and a fourth reference point arranged in sequence; When the speed values of the four reference points meet a preset condition, determining the target curve between the second reference point and the third reference point as the fluctuating curve; Wherein, the preset condition includes Va>Vb, Vb≤Vc and Vc<Vd, or Va<Vb, Vb≥Vc and Vc>Vd, Va is the speed value of the first reference point, Vb is the speed value of the second reference point, Vc is the speed value of the third reference point, and Vd is the speed value of the fourth reference point.

6. The vehicle speed planning method according to claim 4, characterized in that: The performing smoothing processing on the fluctuating curve includes: Reducing or increasing the speed value corresponding to the fluctuating curve; or Connecting the fluctuating curve and the adjacent target curve by using a speed curve corresponding to uniform variable motion.

7. The vehicle speed planning method according to any one of claims 1 to 3, characterized in that: Further including: Performing smoothing processing on the speed curve by using a preset algorithm.

8. The vehicle speed planning method according to any one of claims 1 to 3, characterized in that: The step of dividing the driving path into a plurality of driving sections according to the parameters of the driving path of the vehicle comprises: Acquiring a pitch angle of the driving path; Dividing the driving path into a slope section and a flat section according to the pitch angle; When the length of the flat road section is less than or equal to a length threshold, the flat road section is integrated into the adjacent slope road section.

9. The vehicle speed planning method according to claim 8, characterized in that: The ramp road section includes an uphill road section and a downhill road section, and determining the target speed of each driving road section according to the parameters of the driving road section and the planned speed includes: Acquire a plurality of first pitch angles of the uphill section, and fit the plurality of first pitch angles to generate a first reference pitch angle; Determining a first target speed corresponding to the uphill section according to the performance parameters of the vehicle, the first reference pitch angle and the planned speed; Acquire a plurality of second pitch angles of the downhill section, and fit the plurality of second pitch angles to generate a second reference pitch angle; determining a second target speed corresponding to the downhill section according to the second reference pitch angle and the planned speed; Wherein, the second target speed is less than the planned speed.

10. The vehicle speed planning method according to any one of claims 1 to 3, characterized in that: The step of dividing the driving path into a plurality of driving sections according to the parameters of the driving path of the vehicle comprises: Obtaining a curvature value of the driving path; Dividing the driving path into a straight section and a curved section according to the curvature value; The step of determining the target speed of each driving section according to the parameters of the driving section and the planned speed includes: A third target speed corresponding to the curved road section is determined according to the performance parameter of the vehicle, the curvature value of the curved road section and the planned speed.

11. The vehicle speed planning method according to any one of claims 1 to 3, characterized in that: The step of dividing the driving path into a plurality of driving sections according to the parameters of the driving path of the vehicle comprises: Acquire multiple width values ​​of the driving path; Dividing the driving path into wide road sections and narrow road sections according to the multiple width values ​​of the driving path; The step of determining the target speed of each driving section according to the parameters of the driving section and the planned speed includes: Fitting multiple width values ​​of the driving path to generate a reference width value; Determining a speed reduction ratio according to a width value of the narrow road section and the reference width value; A fourth target speed corresponding to the narrow road section is determined according to the speed reduction ratio and the planned speed.

12. The vehicle speed planning method according to any one of claims 1 to 3, characterized in that: The driving section further includes a starting section and an end section, and determining a target speed for each driving section according to the parameters of the driving section and the planned speed includes: Determining a starting distance according to the maximum starting acceleration of the vehicle and the planned speed; determining a fifth target speed corresponding to the starting section according to the starting distance and the acceleration information of the vehicle; determining a stopping distance according to the maximum stopping acceleration of the vehicle and the planned speed; A sixth target speed corresponding to the terminal section is determined according to the stopping distance and the acceleration information of the vehicle.

13. The vehicle speed planning method according to any one of claims 1 to 3, characterized in that: Also includes: Obtaining an expected driving time of the vehicle in the driving path; The speed curve is adjusted according to the expected duration and a target duration corresponding to the speed curve.

14. A vehicle speed planning device, characterized in that: include: A division unit, used for dividing the driving path of the vehicle into a plurality of driving sections according to the parameters of the driving path of the vehicle; An acquisition unit, used for acquiring a planned speed of the vehicle in each of the driving sections; A determination unit, configured to determine a target speed for each of the driving sections according to the parameters of the driving section and the planned speed; A generating unit, configured to generate a plurality of target curves according to the sequence of the plurality of driving sections and the target speed; as well as The plurality of target curves are spliced ​​at speed to generate a speed curve of the vehicle in the driving path.

15. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle speed planning method according to any one of claims 1 to 13 are implemented.

16. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the vehicle speed planning method according to any one of claims 1 to 13 are implemented.

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