The invention provides a speed constraint method based on path planning, a readable storage medium and a computer. The method comprises the following steps: acquiring image information of a road surface in front of a vehicle driving direction; establishing a road surface type identification network, inputting the image information of the front road surface into the road surface type identification network for road surface type identification, and matching the identified road surface type with a typical road surface type to determine a road surface adhesion coefficient of the front road surface; lane line information in the image information of the front road surface is extracted, a lane line curvilinear equation is determined through polynomial fitting and the lane line information, and the curvature radius is calculated through the lane line curvilinear equation; according to the road adhesion coefficient and the curvature radius, the low-adhesion curve working condition safe driving critical vehicle speed of the vehicle is determined; and the constraint speed of the vehicle is calculated according to the low-load curve working condition safe driving critical vehicle speed and the target vehicle speed. According to the method, the driving safety of the vehicle passing through the low-attached curve working condition in the automatic driving state can be improved.
本发明提供一种基于路径规划的速度约束方法、可读存储介质及计算机,该方法包括:获取车辆行驶方向的前方路面的图像信息;建立路面类型识别网络,将前方路面的图像信息输入至路面类型识别网络进行路面类型识别,并将识别出的路面类型与典型路面类型进行匹配,以确定前方路面的路面附着系数;提取前方路面的图像信息中的车道线信息,通过多项式拟合和车道线信息确定车道线曲线方程,并通过车道线曲线方程计算出曲率半径;根据路面附着系数和曲率半径确定车辆的低附弯道工况安全行驶临界车速;根据低附弯道工况安全行驶临界车速和目标车速计算出车辆的约束速度。本发明可提高车辆自动驾驶状态下通过低附弯道工况的行驶安全性。
Speed constraint method based on path planning, readable storage medium and computer
基于路径规划的速度约束方法、可读存储介质及计算机
2023-04-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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