The invention provides a speed planning method and device, a vehicle and a storage medium. The speed planning method and device are applied to a driving scene of the vehicle at an intersection. The method comprises the following steps: determining track points in an intersection according to a planned path; the track points comprise a starting point and an ending point, and the vehicle travels from the starting point to the ending point at the intersection; acquiring track point data corresponding to the track points; the track point data comprises position data of track points and statistical traffic flow data; fitting a speed equation of driving at the intersection according to the track point data; the speed equation is an equation about speed and time; and according to the first speed determined by the speed equation, determining the planned speed at each moment when driving at the intersection. According to the embodiment of the invention, the road structure and the statistical traffic flow data are added as references during speed planning, so that the planned speed better conforms to the road structure, the dynamics requirement and the traffic rule of the intersection, and the adaptability of the intelligent driving function in the driving scene of the intersection is improved.
本申请提供了一种速度规划方法、装置、车辆及存储介质,应用于本车在交叉路口的行驶场景;其中,该方法包括:根据已规划路径确定在交叉路口中的轨迹点;轨迹点包括起点与终点,本车在交叉路口中从起点行驶至终点;获取轨迹点对应的轨迹点数据;轨迹点数据包括轨迹点的位置数据与统计车流数据;根据轨迹点数据拟合在交叉路口行驶的速度方程;速度方程为速度关于时间的方程;根据由速度方程确定的第一速度,确定在交叉路口行驶时每一时刻的规划速度。本申请实施例通过在速度规划时增加道路结构与统计车流数据作为参考,使得规划速度更加符合道路结构、动力学要求以及交叉路口的通行规律,从而提高了智能驾驶功能在交叉路口行驶场景中的适应性。
Speed planning method and device, vehicle and storage medium
一种速度规划方法、装置、车辆及存储介质
2024-08-30
Patent
Electronic Resource
Chinese
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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