The invention provides a vehicle speed decision method, device and equipment and an unmanned vehicle, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving. According to the specific implementation scheme, the method comprises the following steps: determining risk-free obstacles and risk obstacles in the retrograde obstacles according to retrograde tracks of the retrograde obstacles and a driving track of a vehicle; for the risk-free obstacle, determining a first speed sequence of the vehicle according to the first converse driving data of the risk-free obstacle and the driving data of the vehicle; for the risk obstacle, determining a second speed sequence of the vehicle according to the second converse driving data of the risk obstacle and the driving data of the vehicle; and determining a decision speed sequence of the own vehicle according to the first speed sequence and the second speed sequence. According to the scheme, the influence of the risk-free obstacle and the risk obstacle on the vehicle is distinguished and combined, the influence of each retrograde obstacle on the vehicle can be accurately judged, and the safety of automatic driving is effectively improved.

    本公开提供了一种车速决策方法、装置、设备及无人车,涉及人工智能技术领域,尤其涉及自动驾驶技术领域。具体实现方案为:根据逆行障碍物的逆行轨迹与自车的行驶轨迹,确定逆行障碍物中的无风险障碍物和风险障碍物;对于无风险障碍物,根据无风险障碍物的第一逆行数据和自车的行驶数据,确定自车的第一速度序列;对于风险障碍物,根据风险障碍物的第二逆行数据和自车的行驶数据,确定自车的第二速度序列;根据第一速度序列和第二速度序列确定自车的决策速度序列。本方案区分无风险障碍物和风险障碍物对自车的影响,并将二者结合,可精准判断各逆行障碍物对自车的影响,有效提高自动驾驶的安全性。


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    Title :

    Vehicle speed decision-making method, device and equipment and unmanned vehicle


    Additional title:

    一种车速决策方法、装置、设备及无人车


    Contributors:
    WANG TAIXIANG (author) / CHENG XING (author) / LI GUOFENG (author) / ZOU HANPENG (author) / MIAO QIANKUN (author) / LYU QIANG (author)

    Publication date :

    2024-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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