Vehicle speed planning methods, devices, vehicles, and storage media

Abstract

This application discloses a vehicle speed planning method, apparatus, vehicle, and storage medium. The method includes: acquiring vehicle state information and a planned trajectory, as well as obstacle state information and a predicted trajectory; sampling the planned trajectory and the predicted trajectory based on different speed samples to obtain time-synchronized vehicle trajectory time series and obstacle trajectory time series under different speed samples, and constructing a loss risk map by combining the state information of the vehicle and obstacles; and generating a target speed planning trajectory for the vehicle based on the initial speed planning trajectory and the loss risk map. This application comprehensively considers collision risks by combining information such as the size and mass of the vehicle and obstacles, and constructs a loss risk map. Through the loss risk map and the initial speed planning trajectory, a speed planning trajectory that minimizes risk and maximizes efficiency is obtained, significantly improving traffic efficiency and the ability to perform refined risk trade-offs.

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