The invention discloses a vehicle speed decision-making method and system, a vehicle and equipment. The vehicle speed decision-making method comprises the following steps: obtaining a dynamically planned speed curve; according to the speed curve, longitudinal decisions are made for all obstacles, and the longitudinal decisions comprise a following strategy, an overtaking strategy and an ignoring strategy; target obstacles are searched, and the target obstacles comprise obstacles selected from the obstacles making the following strategy; according to the target obstacle, forward longitudinal simulation in a lane is carried out on the vehicle, and a final speed curve is obtained. By the adoption of the method and device, lane forward simulation can be conducted on the speed curve (rough solution) obtained through dynamic planning, so that the pressure of a downstream speed planning module can be relieved, the solving speed of speed planning can be increased, in addition, in lane forward simulation, the end point constraint can be followed, and the speed planning accuracy is improved. The speed planning solving speed can be effectively improved, and solving of emergency braking, cut-in and other scenes can be guaranteed.
本申请公开了一种车辆的速度决策方法、系统、车辆及设备。车辆的速度决策方法,包括:获得动态规划的速度曲线;根据所述速度曲线,对各个障碍物进行纵向决策,纵向决策包括跟随策略、超越策略和忽略策略;寻找目标障碍物,其中,目标障碍物包括从做出跟随策略的障碍物中选择的障碍物;根据所述目标障碍物,对自车进行车道内前向的纵向仿真,得到最终的速度曲线。采用本申请,可以对动态规划得到的速度曲线(粗解)进行车道前向仿真,从而,能够减轻下游速度规划模块的压力,提高速度规划的求解速度,此外,在车道前向仿真中,能够遵循终点约束,能够有效的提升速度规划求解速度和保证急刹、切入等场景的求解。
Vehicle speed decision-making method and system, vehicle and equipment
车辆的速度决策方法、系统、车辆及设备
2025-04-11
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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