The invention provides a driving speed planning method and device, a storage medium and electronic equipment. The method comprises the steps that the curvature k and the curvature change rate k'of each reference point in a road are acquired; according to the curvature k of each reference point, planning to obtain an initial planning speed # imgabs0 # of the vehicle at each reference point, and according to the value of the curvature change rate k'of each reference point, determining a planning speed adjustment function h (k ') of the vehicle at each reference point; and according to the initial planning speed and the planning speed adjustment function, obtaining a final planning speed v = g (k) * h (k ') of the vehicle at each reference point. By the adoption of the scheme, a driver appropriately decelerates in advance when driving into the curve and accelerates in advance when driving out of the curve, and the driving experience is more comfortable and safer. In addition, according to the scheme, speed planning under various road conditions can be achieved through one algorithm, the method can be used for any curve, complex rules do not need to be designed, and universality is achieved.
本申请提供一种行驶速度规划方法、装置存储介质及电子设备,方法包括:获取道路中各参考点的曲率k以及曲率变化率k′;根据所述各参考点的曲率k,规划得到所述车辆在各参考点的初始规划速度#imgabs0#根据所述各参考点的曲率变化率k′的值,确定所述车辆在各参考点的规划速度调整函数h(k′);根据所述初始规划速度和所述规划速度调整函数得到所述车辆在所述各参考点的最终规划速度v=g(k)×h(k′)。采用本申请方案,驾驶员开车驶入弯道时提前适当减速,驶出弯道时提前加速,驾驶体验会更加舒适和安全。而且本申请方案,采用一套算法就能够实现各种路况下的速度规划,可以用于任意弯道,不需要设计复杂的规则,具有普适性。
Driving speed planning method and device, storage medium and electronic equipment
一种行驶速度规划方法、装置、存储介质及电子设备
2024-10-01
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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