CN109814576A - The speed planning method, apparatus and storage medium of automatic driving vehicle - Google Patents
The speed planning method, apparatus and storage medium of automatic driving vehicle Download PDFInfo
- Publication number
- CN109814576A CN109814576A CN201910135324.9A CN201910135324A CN109814576A CN 109814576 A CN109814576 A CN 109814576A CN 201910135324 A CN201910135324 A CN 201910135324A CN 109814576 A CN109814576 A CN 109814576A
- Authority
- CN
- China
- Prior art keywords
- barrier
- speed
- automatic driving
- driving vehicle
- time point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention proposes the speed planning method, apparatus and storage medium of a kind of automatic driving vehicle.This method comprises: generating a plurality of speed trajectory to be selected in the case where automatic driving vehicle is needed by barrier for the automatic driving vehicle, the speed trajectory to be selected includes the corresponding speed to be selected of multiple time points within the scope of planning time；The desired speed that the automatic driving vehicle passes through the barrier is arranged according to the minimum lateral spacing of the automatic driving vehicle and the barrier for speed trajectory to be selected described in every；And according to each time point corresponding speed to be selected and the desired speed, the cost function value of the speed trajectory to be selected is calculated；The smallest speed trajectory to be selected of cost function value is chosen, the planning speed trajectory of the barrier is passed through as the automatic driving vehicle.The embodiment of the present invention can plan rationally accurate speed trajectory for automatic driving vehicle, guarantee by keeping enough sections when barrier.
Description
Technical field
The present invention relates to automatic Pilot technical field more particularly to a kind of speed planning methods of automatic driving vehicle, dress
It sets and storage medium.
Background technique
Automatic driving vehicle includes with the vehicle of automatic driving mode operation (for example, unmanned).Automatic driving vehicle
Driver can be freed from some drive in relevant responsibility, realization travels in the case where minimum human-computer interaction.From
It is dynamic to drive vehicle in the process of moving, encounter the barrier that front occurs, it may be necessary to pass through beside the barrier.This feelings
Under condition, need to carry out trajectory planning, including speed planning for it.If speed planning is unreasonable, it will reduce the psychology of passenger
The sense of security and comfort level, even result in traffic accident.
Summary of the invention
The embodiment of the present invention provides the speed planning method, apparatus and storage medium of a kind of automatic driving vehicle, to solve
One or more technical problem in the prior art.
In a first aspect, the embodiment of the invention provides a kind of speed planning methods of automatic driving vehicle, comprising:
In the case where automatic driving vehicle is needed by barrier, a plurality of speed to be selected is generated for the automatic driving vehicle
Track is spent, the speed trajectory to be selected includes the corresponding speed to be selected of multiple time points within the scope of planning time；
For speed trajectory to be selected described in every, according between the automatic driving vehicle and the minimum lateral of the barrier
Away from, be arranged the automatic driving vehicle pass through the barrier desired speed；And it is corresponding described according to each time point
Speed to be selected and the desired speed calculate the cost function value of the speed trajectory to be selected；
The smallest speed trajectory to be selected of cost function value is chosen, as the automatic driving vehicle by the barrier
Plan speed trajectory.
In one embodiment, according to the corresponding desired speed of the multiple time point and the speed to be selected,
Calculate the cost function value of the speed trajectory to be selected, comprising:
Calculate corresponding cost function value of each time point；
Corresponding cost function value of each time point is added up, the cost function of the speed trajectory to be selected is obtained
Value.
In one embodiment, corresponding cost function value of each time point is calculated, comprising:
In path time coordinate system, according to the speed trajectory to be selected, corresponding driving path track, the road are generated
Diameter time coordinate system is respectively horizontally and vertically time and position, and the driving path track includes the multiple time point pair
The position to be selected answered；
The profile traces of the barrier are mapped in the path time coordinate system, the mapping of the barrier is obtained
Track band；
Determine whether the time point corresponding position to be selected falls into the mapping trajectories band；
If the position to be selected falls into the mapping trajectories band, time point, corresponding cost function value was 0.
In one embodiment, corresponding cost function value of each time point is calculated, comprising:
If the position to be selected does not fall within the mapping trajectories band, according to formula cost=x1 × max (v-v_
desire,0)2, calculate the time point corresponding cost function value；Wherein, cost is the time point corresponding cost function
Value, v are the time point corresponding speed to be selected, and v_desire is the desired speed, and x1 is the first parameter preset.
In one embodiment, the profile traces of the barrier are mapped in the path time coordinate system, is obtained
To the mapping trajectories band of the barrier, comprising:
The width for adjusting the mapping trajectories band makes the width be greater than preset value.
In one embodiment, according to the minimum lateral spacing of the automatic driving vehicle and the barrier, setting
The automatic driving vehicle passes through the desired speed of the barrier, comprising:
According to the classification of the barrier, spacing threshold is determined；
If the barrier is static-obstacle thing, according to formula v_desire=x2 × (L-L0), when calculating described
Between put the corresponding desired speed；Wherein, v_desire is the time point corresponding desired speed, L be it is described most
Small horizontal spacing, L0 are the spacing threshold, and x2 is the second parameter preset.
In one embodiment, according to the minimum lateral spacing of the automatic driving vehicle and the barrier, setting
The automatic driving vehicle passes through the desired speed of the barrier, comprising:
According to the classification of the barrier, spacing threshold is determined；
If the barrier is moving obstacle, the direction of motion of the barrier is judged；
If the direction of motion of the barrier is close to the automatic driving vehicle, according to formula v_desire=x2
× (L-L0) × cos θ calculates the time point corresponding desired speed；Wherein, v_desire is the time point pair
The desired speed answered, L are the minimum lateral spacing, and L0 is the spacing threshold, and x2 is the second parameter preset, and θ is institute
State the angle in the headstock direction of the direction of motion and the automatic driving vehicle.
In one embodiment, according to the minimum lateral spacing of the automatic driving vehicle and the barrier, setting
The automatic driving vehicle passes through the desired speed of the barrier, comprising:
If the direction of motion of the barrier is far from the automatic driving vehicle, according to formula v_desire=x2
× (L-L0) calculates the time point corresponding desired speed.
Second aspect, the embodiment of the invention provides a kind of speed planning devices of automatic driving vehicle, comprising:
Generation module, in the case where automatic driving vehicle is needed by barrier, being the automatic driving vehicle
Generate a plurality of speed trajectory to be selected, the speed trajectory to be selected include multiple time points within the scope of planning time it is corresponding to be selected
Speed；
Computing module is used for for speed trajectory to be selected described in every, according to the automatic driving vehicle and the obstacle
The desired speed that the automatic driving vehicle passes through the barrier is arranged in the minimum lateral spacing of object；And according to it is each described when
Between put the corresponding speed to be selected and the desired speed, calculate the cost function value of the speed trajectory to be selected；
Module is chosen, for choosing the smallest speed trajectory to be selected of cost function value, is passed through as the automatic driving vehicle
Cross the planning speed trajectory of the barrier.
In one embodiment, the computing module includes:
First computational submodule, for calculating corresponding cost function value of each time point；
Cumulative submodule obtains the speed to be selected for corresponding cost function value of each time point to add up
The cost function value of track.
In one embodiment, first computational submodule includes:
Generation unit, for according to the speed trajectory to be selected, generating corresponding traveling road in path time coordinate system
Diameter track, the path time coordinate system is respectively horizontally and vertically time and position, and the driving path track includes institute
State corresponding position to be selected of multiple time points；
Map unit obtains institute for mapping to the profile traces of the barrier in the path time coordinate system
State the mapping trajectories band of barrier；
Determination unit, for determining whether the time point corresponding position to be selected falls into the mapping trajectories band；
Cost function value obtains unit, if falling into the mapping trajectories band, the time for the position to be selected
The corresponding cost function value of point is 0.
In one embodiment, first computational submodule includes:
Cost function value computing unit, if the mapping trajectories band is not fallen within for the position to be selected, according to public affairs
Formula cost=x1 × max (v-v_desire, 0)2, calculate the time point corresponding cost function value；Wherein, cost is institute
Time point corresponding cost function value is stated, v is the time point corresponding speed to be selected, and v_desire is the desired speed,
X1 is the first parameter preset.
In one embodiment, the map unit includes:
Subelement is adjusted, for adjusting the width of the mapping trajectories band, the width is made to be greater than preset value.
In one embodiment, the computing module includes:
It determines submodule, for the classification according to the barrier, determines spacing threshold；
Second computational submodule, if being static-obstacle thing for the barrier, according to formula v_desire=x2
× (L-L0) calculates the time point corresponding desired speed；Wherein, v_desire is the time point corresponding institute
Desired speed is stated, L is the minimum lateral spacing, and L0 is the spacing threshold, and x2 is the second parameter preset.
In one embodiment, the computing module includes:
It determines submodule, for the classification according to the barrier, determines spacing threshold；
Judging submodule judges the direction of motion of the barrier if being moving obstacle for the barrier；
Third computational submodule, if the direction of motion for the barrier is the close automatic driving vehicle,
According to formula v_desire=x2 × (L-L0) × cos θ, the time point corresponding desired speed is calculated；Wherein, v_
Desire is the time point corresponding desired speed, and L is the minimum lateral spacing, and L0 is the spacing threshold, x2
For the second parameter preset, θ is the angle in the headstock direction of the direction of motion and the automatic driving vehicle.
In one embodiment, the computing module includes:
4th computational submodule, if the direction of motion for the barrier is the separate automatic driving vehicle,
According to formula v_desire=x2 × (L-L0), the time point corresponding desired speed is calculated.
The third aspect, the embodiment of the invention provides a kind of speed planning device of automatic driving vehicle, described device
Function can also execute corresponding software realization by hardware realization by hardware.The hardware or software include one
Or multiple modules corresponding with above-mentioned function.
It include processor and memory in the structure of described device in a possible design, the memory is used for
Storage supports described device to execute the program of the above method, the processor is configured to storing in the memory for executing
Program.Described device can also include communication interface, be used for and other equipment or communication.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage mediums, for storing automatic Pilot vehicle
Speed planning device used in computer software instructions comprising for executing program involved in the above method.
Above-mentioned technical proposal, by generating a plurality of speed trajectory to be selected, and when passing through barrier according to automatic driving vehicle
The psychological security speed of passenger and relative velocity with barrier calculate the cost function value of every speed trajectory to be selected, into
And therefrom determine planning speed trajectory of the smallest speed trajectory to be selected of cost function value as automatic driving vehicle lane change, it can be with
Comfort of passenger is improved, keeps speed planning more reasonable, and can guarantee and keep enough areas between automatic driving vehicle and barrier
Between.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 shows the flow chart of the speed planning method of automatic driving vehicle according to an embodiment of the present invention.
Fig. 2 shows the application exemplary diagrams of the speed planning method of automatic driving vehicle according to an embodiment of the present invention.
Fig. 3 shows a kind of stream of the speed planning method of the automatic driving vehicle of embodiment according to an embodiment of the present invention
Cheng Tu.
Fig. 4 shows the speed planning method of the automatic driving vehicle of another embodiment according to an embodiment of the present invention
Flow chart.
Fig. 5 shows the driving path track of the embodiment of the present invention and the mapping trajectories band schematic diagram of static-obstacle thing.
Fig. 6 shows the driving path track of the embodiment of the present invention and the mapping trajectories band schematic diagram of dynamic barrier.
Fig. 7 shows the structural block diagram of the speed planning device of automatic driving vehicle according to an embodiment of the present invention.
Fig. 8 shows a kind of knot of the speed planning device of the automatic driving vehicle of embodiment according to an embodiment of the present invention
Structure block diagram.
Fig. 9 shows the speed planning device of the automatic driving vehicle of another embodiment according to an embodiment of the present invention
Structural block diagram.
Figure 10 shows the structural block diagram of the speed planning device of automatic driving vehicle according to an embodiment of the present invention.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
Fig. 1 shows the flow chart of the speed planning method of automatic driving vehicle according to an embodiment of the present invention.Such as Fig. 1 institute
Show, this method may comprise steps of:
Step S100, it in the case where automatic driving vehicle is needed by barrier, is generated for the automatic driving vehicle
A plurality of speed trajectory to be selected, the speed trajectory to be selected include the corresponding speed to be selected of multiple time points within the scope of planning time
Degree；
Step S200, for speed trajectory to be selected described in every, according to the automatic driving vehicle and the barrier
The desired speed that the automatic driving vehicle passes through the barrier is arranged in minimum lateral spacing；And according to each time point
The corresponding speed to be selected and the desired speed calculate the cost function value of the speed trajectory to be selected；
Step S300, the smallest speed trajectory to be selected of cost function value is chosen, passes through institute as the automatic driving vehicle
State the planning speed trajectory of barrier.
During automatic driving vehicle is along selected route running, automatic driving vehicle can be planned in different time
The speed of point, to plan speed trajectory for automatic driving vehicle.
Fig. 2 shows the application scenario diagrams of the speed planning method of automatic driving vehicle according to an embodiment of the present invention.In Fig. 2
In show one section there are the road of barrier, the driving direction of the road is the upward direction in picture.The barrier can
To include static-obstacle thing, such as road shoulder, wall, greenbelt；The barrier also may include dynamic barrier, as pedestrian,
Vehicle etc..In Fig. 2, the travel route of automatic driving vehicle includes the part of A to B, it can be seen that automatic driving vehicle needs
Pass through beside from barrier.
It, can be a plurality of to be selected for its generation in the case where automatic driving vehicle is needed by barrier in the present embodiment
Speed trajectory；Then the cost function value of every speed trajectory to be selected is calculated, and then chooses the smallest speed to be selected of cost function value
Track is spent, as planning speed trajectory.Automatic driving vehicle can be passed through beside barrier with the planning speed trajectory.
Wherein, speed trajectory to be selected can be indicated by the two-dimensional curve of speed and time.At predetermined intervals will
Planning time range is divided into multiple time points, and then discretization speed trajectory to be selected, available each time point are corresponding
Speed to be selected.
In a kind of example, planning time range be can be 8 seconds.Since 8 seconds later speed trajectories of planning may increase
Big error, therefore, the speed planning carried out in 8 seconds can reduce data redundancy, improve the accuracy of planning.
In step s 200, it can be determined therebetween according to the route of automatic driving vehicle and the position of barrier
Minimum lateral spacing.Such as: L shown in Fig. 2 indicates minimum lateral spacing.Wherein, laterally refer to and automatic driving vehicle
Headstock is directed toward perpendicular direction.Expectation when automatic driving vehicle passes through barrier can be set according to minimum lateral spacing
Speed.Such as: minimum lateral spacing is smaller, and lesser desired speed can be set, to improve the ride comfort and the heart of passenger
Manage the sense of security.It is possible to further calculate the cost function of speed trajectory to be selected according to the difference of speed to be selected and desired speed
Value.
In one embodiment, as shown in figure 3, in step s 200, may include:
Step S210, corresponding cost function value of each time point is calculated；
Step S220, corresponding cost function value of each time point is added up, obtains the speed trajectory to be selected
Cost function value.
Speed trajectory to be selected may include multiple discrete points, and each discrete point includes time point and corresponding speed to be selected.
Add up the cost function value of each discrete point, the cost function value of available speed trajectory to be selected.
In one embodiment, as shown in figure 4, may include: in step S210
Step S211, in path time coordinate system, according to the speed trajectory to be selected, corresponding driving path rail is generated
Mark, the path time coordinate system is respectively horizontally and vertically time and position, and the driving path track includes described more
A time point corresponding position to be selected；
Step S212, the profile traces of the barrier are mapped in the path time coordinate system, obtains the barrier
Hinder the mapping trajectories band of object；
Step S213, determine whether the time point corresponding position to be selected falls into the mapping trajectories band；
If step S214, the described position to be selected falls into the mapping trajectories band, time point corresponding cost letter
Numerical value is 0；
If step S215, the described position to be selected does not fall within the mapping trajectories band, according to formula cost=x1 × max
(v-v_desire, 0)2, calculate the time point corresponding cost function value；Wherein, cost is corresponding generation at the time point
Valence functional value, v are the time point corresponding speed to be selected, and v_desire is the desired speed, and x1 is the first parameter preset.
In one example, as shown in Figure 5 and Figure 6, in path time coordinate system, horizontal axis is the time (t), and unit is
Second；The longitudinal axis is position (s), and unit is rice.According to formula s=v × t, speed trajectory v (t) to be selected can be converted to traveling road
Diameter track s (t), and driving path track s (t) is shown in path time coordinate system.Wherein, planning time range delta t packet
Include multiple time point t0, t1, t2, t3, t4 and t5；Multiple time point t0, t1, t2, t3, t4 and t5 respectively correspond position to be selected
S0, position s1 to be selected, position s2 to be selected, position s3 to be selected, position s4 to be selected and position s5 to be selected.
In Fig. 5, longitudinal direction (direction the s) profile of barrier C1 at every point of time is mapped into path time coordinate system
In, obtain multiple divergent belts.It is fitted this multiple divergent belt, the mapping trajectories band N1 of available barrier C1.Wherein, barrier
C1 is static-obstacle thing.By a similar method, the mapping trajectories band N2 of barrier C2 can be obtained in Fig. 6.Wherein, obstacle
Object C2 is dynamic barrier.Therefore, mapping trajectories band N2 is efficient belt-like zone.
In one embodiment, in step S212, it may include: the width for adjusting the mapping trajectories band, make institute
Width is stated greater than preset value.
Such as: setting preset value is 25 meters.If length of the profile of barrier C1 on the direction s is 6 meters, that is, it is less than pre-
If value, then the width of corresponding mapping trajectories band will be less than preset value.Barrier C1 can respectively be increased by 10 meters on the direction s
Buffer strip forms the mapping trajectories band N1 in Fig. 5.Width of the mapping trajectories with N1 is 26 meters, is greater than preset value.
In the present embodiment, it can be determined on driving path track, Mei Geshi according to driving path track and mapping trajectories band
Between put whether corresponding position to be selected falls into mapping trajectories band；Then, it according to situation is fallen into, calculates in different ways respectively
The corresponding cost function value of each time point.
Such as: in Fig. 5, position s0, s1 and s2 to be selected fall into the mapping trajectories band N1 of barrier C1；Then time point t0,
The corresponding cost function value of t1 and t2 is 0.Position s3, s4 and s5 to be selected do not fall within the mapping trajectories band N1 of barrier C1, then root
According to formula cost=x1 × max (v-v_desire, 0)2, calculate separately be time point t3, t4 and t5 cost function value.
In the present embodiment, the cost function value of speed trajectory to be selected is related to desired speed.In one embodiment, such as
Shown in Fig. 7, in step s 200, may include:
Step S230, according to the classification of the barrier, spacing threshold is determined；
If step S240, the described barrier is static-obstacle thing, according to formula v_desire=x2 × (L-L0),
Calculate the time point corresponding desired speed；Wherein, v_desire is the time point corresponding desired speed,
L is the minimum lateral spacing, and L0 is the spacing threshold, and x2 is the second parameter preset；
If step S250, the described barrier is moving obstacle, the direction of motion of the barrier is judged；
If the direction of motion of step S260, the described barrier is close to the automatic driving vehicle, according to formula v_
Desire=x2 × (L-L0) × cos θ calculates the time point corresponding desired speed；Wherein, θ is the movement side
To the angle in the headstock direction with the automatic driving vehicle；
If the direction of motion of step S270, the described barrier is far from the automatic driving vehicle, according to formula v_
Desire=x2 × (L-L0) calculates the time point corresponding desired speed.
Such as: in Fig. 5, barrier C1 is static-obstacle thing, then according to formula v_desire=x2 × (L-L0), meter
Calculate the desired speed of each time point on speed trajectory v (t) to be selected.
Another example is: in Fig. 6, barrier C2 is dynamic barrier, then according to formula v_desire=x2 × (L-L0) ×
Cos θ calculates the desired speed of each time point on speed trajectory v (t) to be selected.
That is, desired speed may be related to the direction of motion of barrier.When the direction of motion of barrier is close
When the travel route of automatic driving vehicle, desired speed can reduce.When the direction of motion of barrier is far from automatic driving vehicle
Travel route when, θ can be set to 0 °.
Wherein, spacing threshold L0 is related to the classification of barrier.Such as: barrier is pedestrian, then can be set lesser
Spacing threshold, such as L0=0.5 meters.
After obtaining the desired speed of each time point, can according to method described in step S210 and step S220,
Obtain the cost function value of speed trajectory v (t) to be selected.
To sum up, the speed planning method of the automatic driving vehicle of the embodiment of the present invention, by generating a plurality of speed rail to be selected
Mark, and according to automatic driving vehicle pass through barrier when desired speed, calculate every speed trajectory to be selected cost function value,
And then therefrom determine planning speed trajectory of the smallest speed trajectory to be selected of cost function value as automatic driving vehicle lane change, it can
So that speed planning is more reasonable, and it can guarantee and keep enough sections between automatic driving vehicle and barrier.Further, exist
During speed planning, when calculating desired speed, considers the classification of barrier, whether moves and the direction of motion, it can be with
Keep speed planning more acurrate.
Fig. 8 shows the structural block diagram of the generating means of speed trajectory according to an embodiment of the present invention.As shown in figure 8, the dress
It sets and may include:
Generation module 100, in the case where automatic driving vehicle is needed by barrier, being the automatic Pilot vehicle
Generate a plurality of speed trajectory to be selected, the speed trajectory to be selected include multiple time points within the scope of planning time it is corresponding to
Select speed；
Computing module 200 is used for for speed trajectory to be selected described in every, according to the automatic driving vehicle and the barrier
The desired speed that the automatic driving vehicle passes through the barrier is arranged in the minimum lateral spacing for hindering object；And according to each described
The time point corresponding speed to be selected and the desired speed calculate the cost function value of the speed trajectory to be selected；
Module 300 is chosen, for choosing the smallest speed trajectory to be selected of cost function value, as the automatic driving vehicle
By the planning speed trajectory of the barrier.
In one embodiment, as shown in figure 9, computing module 200 may include:
First computational submodule 210, for calculating corresponding cost function value of each time point；
Cumulative submodule 220 obtains the speed to be selected for corresponding cost function value of each time point to add up
Spend the cost function value of track.
In one embodiment, the first computational submodule 210 may include:
Generation unit, for according to the speed trajectory to be selected, generating corresponding traveling road in path time coordinate system
Diameter track, the path time coordinate system is respectively horizontally and vertically time and position, and the driving path track includes institute
State corresponding position to be selected of multiple time points；
Map unit obtains institute for mapping to the profile traces of the barrier in the path time coordinate system
State the mapping trajectories band of barrier；
Determination unit, for determining whether the time point corresponding position to be selected falls into the mapping trajectories band；
Cost function value obtains unit, if falling into the mapping trajectories band, the time for the position to be selected
The corresponding cost function value of point is 0.
In one embodiment, the first computational submodule 212 may include:
Cost function value computing unit, if the mapping trajectories band is not fallen within for the position to be selected, according to public affairs
Formula cost=x1 × max (v-v_desire, 0)2, calculate the time point corresponding cost function value；Wherein, cost is institute
Time point corresponding cost function value is stated, v is the time point corresponding speed to be selected, and v_desire is the desired speed,
X1 is the first parameter preset.
In one embodiment, the map unit may include:
Subelement is adjusted, for adjusting the width of the mapping trajectories band, the width is made to be greater than preset value.
In one embodiment, computing module 200 may include:
It determines submodule 230, for the classification according to the barrier, determines spacing threshold；
Second computational submodule 240, if being static-obstacle thing for the barrier, according to formula v_desire=
X2 × (L-L0) calculates the time point corresponding desired speed；Wherein, v_desire is that the time point is corresponding
The desired speed, L are the minimum lateral spacing, and L0 is the spacing threshold, and x2 is the second parameter preset.
In one embodiment, computing module 200 may include:
It determines submodule 230, for the classification according to the barrier, determines spacing threshold；
Judging submodule 250 judges the movement side of the barrier if being moving obstacle for the barrier
To；
Third computational submodule 260, if the direction of motion for the barrier is the close automatic driving vehicle,
Then according to formula v_desire=x2 × (L-L0) × cos θ, the time point corresponding desired speed is calculated；Wherein,
V_desire is the time point corresponding desired speed, and L is the minimum lateral spacing, and L0 is the spacing threshold,
X2 is the second parameter preset, and θ is the angle in the headstock direction of the direction of motion and the automatic driving vehicle.
In one embodiment, computing module 200 may include:
4th computational submodule 270, if the direction of motion for the barrier is the separate automatic driving vehicle,
Then according to formula v_desire=x2 × (L-L0), the time point corresponding desired speed is calculated.
The function of each module in each device of the embodiment of the present invention may refer to the corresponding description in the above method, herein not
It repeats again.
Figure 10 shows the structural block diagram of the speed planning device of automatic driving vehicle according to an embodiment of the present invention.Such as Figure 10
Shown, which includes: memory 1010 and processor 1020, and being stored in memory 1010 can execute on processor 1020
Computer program.The processor 1020 realizes the automatic driving vehicle in above-described embodiment when executing the computer program
Speed planning method.The quantity of the memory 1010 and processor 1020 can be one or more.
The device further include:
Communication interface 1030 carries out data interaction for being communicated with external device.
Memory 1010 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 1010, processor 1020 and the independent realization of communication interface 1030, memory 1010, processor
1020 and communication interface 1030 can be connected with each other by bus and complete mutual communication.The bus can be industrial mark
Quasi- architecture (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI,
Peripheral Component Interconnect) bus or extended industry-standard architecture (EISA, Extended
Industry Standard Component) bus etc..The bus can be divided into address bus, data/address bus, control bus
Deng.Only to be indicated with a thick line in Figure 10, it is not intended that an only bus or a type of bus convenient for indicating.
Optionally, in specific implementation, if memory 1010, processor 1020 and communication interface 1030 are integrated in one piece
On chip, then memory 1010, processor 1020 and communication interface 1030 can complete mutual communication by internal interface.
The embodiment of the invention provides a kind of computer readable storage mediums, are stored with computer program, the program quilt
Processor realizes any method in above-described embodiment when executing.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (18)
1. a kind of speed planning method of automatic driving vehicle, comprising:
In the case where automatic driving vehicle is needed by barrier, a plurality of speed rail to be selected is generated for the automatic driving vehicle
Mark, the speed trajectory to be selected include the corresponding speed to be selected of multiple time points within the scope of planning time；
For speed trajectory to be selected described in every, according to the minimum lateral spacing of the automatic driving vehicle and the barrier,
The desired speed that the automatic driving vehicle passes through the barrier is set；And it is corresponding described to be selected according to each time point
Speed and the desired speed calculate the cost function value of the speed trajectory to be selected；
The smallest speed trajectory to be selected of cost function value is chosen, the planning of the barrier is passed through as the automatic driving vehicle
Speed trajectory.
2. the method according to claim 1, wherein according to the corresponding speed to be selected of each time point and
The desired speed calculates the cost function value of the speed trajectory to be selected, comprising:
Calculate corresponding cost function value of each time point；
Corresponding cost function value of each time point is added up, the cost function value of the speed trajectory to be selected is obtained.
3. according to the method described in claim 2, it is characterized in that, calculate corresponding cost function value of each time point,
Include:
In path time coordinate system, according to the speed trajectory to be selected, corresponding driving path track is generated, when the path
Between coordinate system horizontally and vertically be respectively time and position, the driving path track include the multiple time point it is corresponding
Position to be selected；
The profile traces of the barrier are mapped in the path time coordinate system, the mapping trajectories of the barrier are obtained
Band；
Determine whether the time point corresponding position to be selected falls into the mapping trajectories band；
If the position to be selected falls into the mapping trajectories band, time point, corresponding cost function value was 0.
4. according to the method described in claim 3, it is characterized in that, calculate corresponding cost function value of each time point,
Include:
If the position to be selected does not fall within the mapping trajectories band, according to formula cost=x1 × max (v-v_desire,
0)2, calculate the time point corresponding cost function value；Wherein, cost is the time point corresponding cost function value, and v is
Time point corresponding speed to be selected, v_desire are the desired speed, and x1 is the first parameter preset.
5. according to the method described in claim 3, it is characterized in that, the profile traces of the barrier are mapped to the path
In time coordinate system, the mapping trajectories band of the barrier is obtained, comprising:
The width for adjusting the mapping trajectories band makes the width be greater than preset value.
6. the method according to claim 1, wherein most according to the automatic driving vehicle and the barrier
The desired speed that the automatic driving vehicle passes through the barrier is arranged in small horizontal spacing, comprising:
According to the classification of the barrier, spacing threshold is determined；
If the barrier calculates the time point according to formula v_desire=x2 × (L-L0) for static-obstacle thing
The corresponding desired speed；Wherein, v_desire is the time point corresponding desired speed, and L is described minimum horizontal
To spacing, L0 is the spacing threshold, and x2 is the second parameter preset.
7. the method according to claim 1, wherein most according to the automatic driving vehicle and the barrier
The desired speed that the automatic driving vehicle passes through the barrier is arranged in small horizontal spacing, comprising:
According to the classification of the barrier, spacing threshold is determined；
If the barrier is moving obstacle, the direction of motion of the barrier is judged；
If the direction of motion of the barrier be close to the automatic driving vehicle, according to formula v_desire=x2 ×
(L-L0) × cos θ calculates the time point corresponding desired speed；Wherein, v_desire is corresponding for the time point
The desired speed, L be the minimum lateral spacing, L0 be the spacing threshold, x2 be the second parameter preset, θ is described
The angle in the headstock direction of the direction of motion and the automatic driving vehicle.
8. the method according to the description of claim 7 is characterized in that most according to the automatic driving vehicle and the barrier
The desired speed that the automatic driving vehicle passes through the barrier is arranged in small horizontal spacing, comprising:
If the direction of motion of the barrier be far from the automatic driving vehicle, according to formula v_desire=x2 ×
(L-L0), the time point corresponding desired speed is calculated.
9. a kind of speed planning device of automatic driving vehicle characterized by comprising
Generation module, for being generated for the automatic driving vehicle in the case where automatic driving vehicle is needed by barrier
A plurality of speed trajectory to be selected, the speed trajectory to be selected include the corresponding speed to be selected of multiple time points within the scope of planning time
Degree；
Computing module is used for for speed trajectory to be selected described in every, according to the automatic driving vehicle and the barrier
The desired speed that the automatic driving vehicle passes through the barrier is arranged in minimum lateral spacing；And according to each time point
The corresponding speed to be selected and the desired speed calculate the cost function value of the speed trajectory to be selected；
Module is chosen, for choosing the smallest speed trajectory to be selected of cost function value, passes through institute as the automatic driving vehicle
State the planning speed trajectory of barrier.
10. device according to claim 9, which is characterized in that the computing module includes:
First computational submodule, for calculating corresponding cost function value of each time point；
Cumulative submodule obtains the speed trajectory to be selected for corresponding cost function value of each time point to add up
Cost function value.
11. device according to claim 10, which is characterized in that first computational submodule includes:
Generation unit, for according to the speed trajectory to be selected, generating corresponding driving path rail in path time coordinate system
Mark, the path time coordinate system is respectively horizontally and vertically time and position, and the driving path track includes described more
A time point corresponding position to be selected；
Map unit obtains the barrier for mapping to the profile traces of the barrier in the path time coordinate system
Hinder the mapping trajectories band of object；
Determination unit, for determining whether the time point corresponding position to be selected falls into the mapping trajectories band；
Cost function value obtains unit, if falling into the mapping trajectories band, the time point pair for the position to be selected
The cost function value answered is 0.
12. device according to claim 11, which is characterized in that first computational submodule includes:
Cost function value computing unit, if the mapping trajectories band is not fallen within for the position to be selected, according to formula
Cost=x1 × max (v-v_desire, 0)2, calculate the time point corresponding cost function value；Wherein, cost is described
Time point corresponding cost function value, v are the time point corresponding speed to be selected, and v_desire is the desired speed, x1
For the first parameter preset.
13. device according to claim 11, which is characterized in that the map unit includes:
Subelement is adjusted, for adjusting the width of the mapping trajectories band, the width is made to be greater than preset value.
14. device according to claim 9, which is characterized in that the computing module includes:
It determines submodule, for the classification according to the barrier, determines spacing threshold；
Second computational submodule, if for the barrier be static-obstacle thing, according to formula v_desire=x2 ×
(L-L0), the time point corresponding desired speed is calculated；Wherein, v_desire is that the time point is corresponding described
Desired speed, L are the minimum lateral spacing, and L0 is the spacing threshold, and x2 is the second parameter preset.
15. device according to claim 9, which is characterized in that the computing module includes:
It determines submodule, for the classification according to the barrier, determines spacing threshold；
Judging submodule judges the direction of motion of the barrier if being moving obstacle for the barrier；
Third computational submodule, if the direction of motion for the barrier is close to the automatic driving vehicle, basis
Formula v_desire=x2 × (L-L0) × cos θ calculates the time point corresponding desired speed；Wherein, v_
Desire is the time point corresponding desired speed, and L is the minimum lateral spacing, and L0 is the spacing threshold, x2
For the second parameter preset, θ is the angle in the headstock direction of the direction of motion and the automatic driving vehicle.
16. device according to claim 15, which is characterized in that the computing module includes:
4th computational submodule, if the direction of motion for the barrier is far from the automatic driving vehicle, basis
Formula v_desire=x2 × (L-L0) calculates the time point corresponding desired speed.
17. a kind of speed planning device of automatic driving vehicle characterized by comprising
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize such as method described in any item of the claim 1 to 8.
18. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
Such as method described in any item of the claim 1 to 8 is realized when row.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135324.9A CN109814576B (en) | 2019-02-22 | 2019-02-22 | Method, apparatus and storage medium for speed planning of autonomous vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135324.9A CN109814576B (en) | 2019-02-22 | 2019-02-22 | Method, apparatus and storage medium for speed planning of autonomous vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109814576A true CN109814576A (en) | 2019-05-28 |
| CN109814576B CN109814576B (en) | 2022-01-28 |
Family
ID=66607293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910135324.9A Active CN109814576B (en) | 2019-02-22 | 2019-02-22 | Method, apparatus and storage medium for speed planning of autonomous vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109814576B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123952A (en) * | 2019-12-31 | 2020-05-08 | 华为技术有限公司 | Trajectory planning method and device |
| CN112526999A (en) * | 2020-12-22 | 2021-03-19 | 北京百度网讯科技有限公司 | Speed planning method, device, electronic equipment and storage medium |
| CN113071520A (en) * | 2021-04-16 | 2021-07-06 | 阿波罗智联(北京)科技有限公司 | Vehicle running control method and device |
| CN113654556A (en) * | 2021-07-05 | 2021-11-16 | 的卢技术有限公司 | Local path planning method, medium and equipment based on improved EM algorithm |
| CN113703453A (en) * | 2021-08-24 | 2021-11-26 | 京东鲲鹏(江苏)科技有限公司 | Method and device for determining driving track, electronic equipment and storage medium |
| CN113741453A (en) * | 2021-08-31 | 2021-12-03 | 广州文远知行科技有限公司 | Path planning method, device, equipment and medium for unstructured environment |
| CN114355921A (en) * | 2021-12-28 | 2022-04-15 | 北京易航远智科技有限公司 | Vehicle tracking track generation method and device, electronic equipment and storage medium |
| CN117601867A (en) * | 2024-01-18 | 2024-02-27 | 杭州鉴智机器人科技有限公司 | Vehicle lane changing method, vehicle lane changing device, storage medium and vehicle control system |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5990111A (en) * | 1982-11-16 | 1984-05-24 | Shinko Electric Co Ltd | Obstacle detector of unmanned guiding truck |
| WO2009123650A1 (en) * | 2008-04-02 | 2009-10-08 | Irobot Corporation | Robotics systems |
| JP2013045265A (en) * | 2011-08-24 | 2013-03-04 | Toyota Central R&D Labs Inc | Autonomous mobile body |
| CN104483967A (en) * | 2014-11-11 | 2015-04-01 | 浙江师范大学 | Wheeled mobile robot trace tracking control method based on energy saving consideration |
| WO2016095921A1 (en) * | 2014-12-19 | 2016-06-23 | Conpleks Innovation Aps | Method for recording and predicting position data for an automated guided wheeled vehicle |
| EP3064967A1 (en) * | 2015-03-04 | 2016-09-07 | Sercel | Method for determining a collision free sail path of at least one vessel of a fleet of vessels, corresponding device, computer program product and non-transitory computer-readable carrier medium |
| CN106114507A (en) * | 2016-06-21 | 2016-11-16 | 百度在线网络技术（北京）有限公司 | Local path planning method and device for intelligent vehicle |
| CN106527452A (en) * | 2016-12-30 | 2017-03-22 | 广州汽车集团股份有限公司 | Motion path planning method of pilotless automobile when encountering obstacle and system thereof |
| WO2017054346A1 (en) * | 2015-09-28 | 2017-04-06 | 小米科技有限责任公司 | Method and apparatus for controlling balanced vehicle |
| CN107992050A (en) * | 2017-12-20 | 2018-05-04 | 广州汽车集团股份有限公司 | Pilotless automobile local path motion planning method and device |
| CN108032858A (en) * | 2017-11-30 | 2018-05-15 | 广州小鹏汽车科技有限公司 | Self-adapting cruise control method and system based on the prediction of other car driving path |
| CN108255170A (en) * | 2016-12-28 | 2018-07-06 | 百度（美国）有限责任公司 | The method for dynamically adjusting the speed control rate of automatic driving vehicle |
| CN108334077A (en) * | 2017-01-18 | 2018-07-27 | 百度（美国）有限责任公司 | Determine the method and system of the unit gain of the speed control of automatic driving vehicle |
| CN108428243A (en) * | 2018-03-07 | 2018-08-21 | 北京航空航天大学 | A kind of pedestrian movement's speed predicting method based on artificial neural network |
| CN108519773A (en) * | 2018-03-07 | 2018-09-11 | 西安交通大学 | The paths planning method of automatic driving vehicle under a kind of structured environment |
| CN108780610A (en) * | 2016-03-24 | 2018-11-09 | 本田技研工业株式会社 | For the system and method for unexpected pedestrian's planned trajectory |
| CN108806021A (en) * | 2018-06-12 | 2018-11-13 | 重庆大学 | Electric vehicle target road section energy consumption prediction technique based on physical model and roadway characteristic parameter |
| CN109059944A (en) * | 2018-06-06 | 2018-12-21 | 上海国际汽车城（集团）有限公司 | Motion planning method based on driving habit study |
| CN109062227A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of more curve local paths planning methods based on dynamic window |
| CN109188419A (en) * | 2018-09-07 | 2019-01-11 | 百度在线网络技术（北京）有限公司 | Detection method, device, computer equipment and the storage medium of barrier speed |
-
2019
- 2019-02-22 CN CN201910135324.9A patent/CN109814576B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5990111A (en) * | 1982-11-16 | 1984-05-24 | Shinko Electric Co Ltd | Obstacle detector of unmanned guiding truck |
| WO2009123650A1 (en) * | 2008-04-02 | 2009-10-08 | Irobot Corporation | Robotics systems |
| JP2013045265A (en) * | 2011-08-24 | 2013-03-04 | Toyota Central R&D Labs Inc | Autonomous mobile body |
| CN104483967A (en) * | 2014-11-11 | 2015-04-01 | 浙江师范大学 | Wheeled mobile robot trace tracking control method based on energy saving consideration |
| WO2016095921A1 (en) * | 2014-12-19 | 2016-06-23 | Conpleks Innovation Aps | Method for recording and predicting position data for an automated guided wheeled vehicle |
| EP3064967A1 (en) * | 2015-03-04 | 2016-09-07 | Sercel | Method for determining a collision free sail path of at least one vessel of a fleet of vessels, corresponding device, computer program product and non-transitory computer-readable carrier medium |
| WO2017054346A1 (en) * | 2015-09-28 | 2017-04-06 | 小米科技有限责任公司 | Method and apparatus for controlling balanced vehicle |
| CN108780610A (en) * | 2016-03-24 | 2018-11-09 | 本田技研工业株式会社 | For the system and method for unexpected pedestrian's planned trajectory |
| CN106114507A (en) * | 2016-06-21 | 2016-11-16 | 百度在线网络技术（北京）有限公司 | Local path planning method and device for intelligent vehicle |
| CN108255170A (en) * | 2016-12-28 | 2018-07-06 | 百度（美国）有限责任公司 | The method for dynamically adjusting the speed control rate of automatic driving vehicle |
| CN106527452A (en) * | 2016-12-30 | 2017-03-22 | 广州汽车集团股份有限公司 | Motion path planning method of pilotless automobile when encountering obstacle and system thereof |
| CN108334077A (en) * | 2017-01-18 | 2018-07-27 | 百度（美国）有限责任公司 | Determine the method and system of the unit gain of the speed control of automatic driving vehicle |
| CN108032858A (en) * | 2017-11-30 | 2018-05-15 | 广州小鹏汽车科技有限公司 | Self-adapting cruise control method and system based on the prediction of other car driving path |
| CN107992050A (en) * | 2017-12-20 | 2018-05-04 | 广州汽车集团股份有限公司 | Pilotless automobile local path motion planning method and device |
| CN108428243A (en) * | 2018-03-07 | 2018-08-21 | 北京航空航天大学 | A kind of pedestrian movement's speed predicting method based on artificial neural network |
| CN108519773A (en) * | 2018-03-07 | 2018-09-11 | 西安交通大学 | The paths planning method of automatic driving vehicle under a kind of structured environment |
| CN109059944A (en) * | 2018-06-06 | 2018-12-21 | 上海国际汽车城（集团）有限公司 | Motion planning method based on driving habit study |
| CN108806021A (en) * | 2018-06-12 | 2018-11-13 | 重庆大学 | Electric vehicle target road section energy consumption prediction technique based on physical model and roadway characteristic parameter |
| CN109188419A (en) * | 2018-09-07 | 2019-01-11 | 百度在线网络技术（北京）有限公司 | Detection method, device, computer equipment and the storage medium of barrier speed |
| CN109062227A (en) * | 2018-09-25 | 2018-12-21 | 电子科技大学 | A kind of more curve local paths planning methods based on dynamic window |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123952A (en) * | 2019-12-31 | 2020-05-08 | 华为技术有限公司 | Trajectory planning method and device |
| CN111123952B (en) * | 2019-12-31 | 2021-12-31 | 华为技术有限公司 | Trajectory planning method and device |
| CN112526999A (en) * | 2020-12-22 | 2021-03-19 | 北京百度网讯科技有限公司 | Speed planning method, device, electronic equipment and storage medium |
| CN113071520A (en) * | 2021-04-16 | 2021-07-06 | 阿波罗智联(北京)科技有限公司 | Vehicle running control method and device |
| CN113071520B (en) * | 2021-04-16 | 2024-01-16 | 阿波罗智联(北京)科技有限公司 | Vehicle running control method and device |
| US12024166B2 (en) | 2021-04-16 | 2024-07-02 | Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. | Vehicle driving control method and apparatus |
| CN113654556A (en) * | 2021-07-05 | 2021-11-16 | 的卢技术有限公司 | Local path planning method, medium and equipment based on improved EM algorithm |
| CN113703453A (en) * | 2021-08-24 | 2021-11-26 | 京东鲲鹏(江苏)科技有限公司 | Method and device for determining driving track, electronic equipment and storage medium |
| CN113741453A (en) * | 2021-08-31 | 2021-12-03 | 广州文远知行科技有限公司 | Path planning method, device, equipment and medium for unstructured environment |
| CN114355921A (en) * | 2021-12-28 | 2022-04-15 | 北京易航远智科技有限公司 | Vehicle tracking track generation method and device, electronic equipment and storage medium |
| CN114355921B (en) * | 2021-12-28 | 2022-10-18 | 北京易航远智科技有限公司 | Vehicle tracking track generation method and device, electronic equipment and storage medium |
| CN117601867A (en) * | 2024-01-18 | 2024-02-27 | 杭州鉴智机器人科技有限公司 | Vehicle lane changing method, vehicle lane changing device, storage medium and vehicle control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109814576B (en) | 2022-01-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109814576A (en) | The speed planning method, apparatus and storage medium of automatic driving vehicle | |
| CN109712421A (en) | The speed planning method, apparatus and storage medium of automatic driving vehicle | |
| US11161502B2 (en) | Cost-based path determination | |
| US11225247B2 (en) | Collision prediction and avoidance for vehicles | |
| CN109583151A (en) | The driving trace prediction technique and device of vehicle | |
| US11774975B2 (en) | Collision zone detection for vehicles | |
| Göhring et al. | Radar/lidar sensor fusion for car-following on highways | |
| EP4240628A1 (en) | Allocation of safety system resources based on probability of intersection | |
| CN112639849A (en) | Route selection method and route selection device | |
| CN109278746A (en) | Determine method, control device and the motor vehicle of the track of the motor vehicle independently travelled | |
| CN112406904B (en) | Training method of automatic driving strategy, automatic driving method, equipment and vehicle | |
| CN109814574A (en) | The speed planning method, apparatus and storage medium of lane meet | |
| CN112829747A (en) | Driving behavior decision method and device and storage medium | |
| CN109655076A (en) | The speed planning method, apparatus and storage medium of vehicle turning | |
| CN112406905B (en) | Data processing method and device based on vehicle, computer and storage medium | |
| CN109703569A (en) | A kind of information processing method, device and storage medium | |
| CN102201174B (en) | Traveling road estimation system | |
| CN109724614A (en) | The speed planning method, apparatus and storage medium of automatic driving vehicle | |
| CN109814575A (en) | Vehicle lane change route planning method, device and terminal | |
| JP7375576B2 (en) | Vehicle control device | |
| KR101998953B1 (en) | Mehtod for predicting path of surrounding vehicle and learning method for path prediction | |
| CN117227714A (en) | Control method and system for turning avoidance of automatic driving vehicle | |
| CN109887320A (en) | A kind of speed planning method, apparatus and storage medium | |
| WO2018198769A1 (en) | Surrounding environment recognition device, display control device | |
| CN115476874A (en) | Vehicle control apparatus, system including the same, and vehicle control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |