CN109866711A - Generation method, device and the storage medium of retro-speed track - Google Patents
Generation method, device and the storage medium of retro-speed track Download PDFInfo
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Abstract
The embodiment of the present invention proposes generation method, device and the storage medium of a kind of retro-speed track.This method comprises: obtaining acceleration limit value of the automatic driving vehicle in braking process；According to the present speed of the automatic driving vehicle and the acceleration limit value, the braking duration of the automatic driving vehicle is calculated；The speed trajectory in the braking duration is generated for the automatic driving vehicle, speed trajectory speed and the polynomial curve of time indicate.More accurate speed trajectory can be generated in the embodiment of the present invention, and automatic driving vehicle is allow to stop with most fast speed, and each discrete velocity can be executed by automatic driving vehicle.
Description
Technical field
The present invention relates to automatic Pilot technical field more particularly to a kind of generation method of retro-speed track, device and
Storage medium.
Background technique
Automatic driving vehicle in case of emergency, needs to plan the speed trajectory of emergency braking for it.With regard to same automatic
For driving vehicle, brake unit is under different environment (for example, road conditions, weather condition, vehicle weight), braking
Performance may also be different.In addition, the braking ability of each automatic driving vehicle is different, identical speed planning is applied to all classes
During all emergency brakings of the automatic driving vehicle or automatic driving vehicle of type, the accuracy of speed planning can be reduced.
Summary of the invention
The embodiment of the present invention provides generation method, device and the storage medium of a kind of retro-speed track, existing to solve
One or more technical problems in technology.
In a first aspect, the embodiment of the invention provides a kind of generation methods of retro-speed track, comprising:
Obtain acceleration limit value of the automatic driving vehicle in braking process；
According to the present speed of the automatic driving vehicle and the acceleration limit value, the automatic driving vehicle is calculated
Braking duration；
For the automatic driving vehicle generate it is described braking duration in speed trajectory, the speed trajectory speed and when
Between polynomial curve indicate.
In one embodiment, the speed trajectory in the braking duration is generated for the automatic driving vehicle, comprising:
Five rank multinomial functions of formation speed and time；
It is generated in the braking duration multiple according to the five rank multinomials function with preset sampling time interval
Sampled point；
It is fitted the multiple sampled point, to obtain the polynomial curve.
In one embodiment, five rank multinomial functions of formation speed and time, comprising:
It is zero that the acceleration at stall when automatic driving vehicle stops, which is arranged, and stops acceleration；
According to it is described braking duration, the present speed, the automatic driving vehicle current acceleration and stop speed,
The acceleration at stall and the stopping acceleration determining each level number of the five rank multinomials function.
In one embodiment, according to the present speed of the automatic driving vehicle and the acceleration limit value, meter
Calculate the braking duration of the automatic driving vehicle, comprising:
According to formula t=v (t0)/amin, calculate the braking duration；Wherein, t is the braking duration, and v (t0) is institute
State present speed, aminFor the acceleration limit value.
In one embodiment, acceleration limit value of the automatic driving vehicle in braking process is obtained, comprising:
According to the performance parameter of the automatic driving vehicle, the theory of the minimum acceleration of the automatic driving vehicle is obtained
Value；
By the theoretical value of the minimum acceleration multiplied by error coefficient, the acceleration limit value is obtained.
Second aspect, the embodiment of the present invention also provide a kind of generating means of retro-speed track, comprising:
Module is obtained, for obtaining acceleration limit value of the automatic driving vehicle in braking process；
Computing module calculates institute for the present speed and the acceleration limit value according to the automatic driving vehicle
State the braking duration of automatic driving vehicle；
Generation module, for generating the speed trajectory in the braking duration, the speed for the automatic driving vehicle
The polynomial curve of track speed and time indicate.
In one embodiment, the generation module includes:
First generates submodule, the five rank multinomial functions for formation speed and time；
Second generates submodule, is used for according to the five rank multinomials function, with preset sampling time interval, described
It brakes and generates multiple sampled points in duration；
It is fitted submodule, for being fitted the multiple sampled point, to obtain the polynomial curve.
In one embodiment, the first generation submodule includes:
Setting unit, acceleration at stall and stopping acceleration when for automatic driving vehicle stopping to be arranged are
Zero；
Determination unit, for working as preacceleration according to the braking duration, the present speed, the automatic driving vehicle
Degree and stopping speed, the acceleration at stall and the stopping acceleration, determine each level of the five rank multinomials function
Number.
In one embodiment, the computing module includes:
Computational submodule, for according to formula t=v (t0)/amin, calculate the braking duration；Wherein, t is the braking
Duration, v (t0) are the present speed, aminFor the acceleration limit value.
In one embodiment, the acquisition module includes:
Acquisition submodule obtains the automatic driving vehicle for the performance parameter according to the automatic driving vehicle
The theoretical value of minimum acceleration；
Acceleration limit value obtains submodule, for the theoretical value of the minimum acceleration multiplied by error coefficient, to be obtained institute
State acceleration limit value.
The third aspect, the embodiment of the invention provides a kind of generating means of retro-speed track, the functions of described device
Corresponding software realization can also be executed by hardware by hardware realization.The hardware or software include one or more
A module 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 retro-speed rail
Computer software instructions used in the generating means of mark comprising for executing program involved in the above method.
More accurate speed trajectory can be generated in above-mentioned technical proposal, stops automatic driving vehicle with most fast speed
Get off, and each discrete velocity can be executed by automatic driving vehicle.
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 generation method of retro-speed track according to an embodiment of the present invention.
Fig. 2 shows the application exemplary diagrams of the generation method of retro-speed track according to an embodiment of the present invention.
Fig. 3 shows a kind of process of the generation method of the retro-speed track of embodiment according to an embodiment of the present invention
Figure.
Fig. 4 shows the process of the generation method of the retro-speed track of another embodiment according to an embodiment of the present invention
Figure.
Fig. 5 shows the structural block diagram of the generating means of retro-speed track according to an embodiment of the present invention.
Fig. 6 shows a kind of structural frames of the generating means of the retro-speed track of embodiment according to an embodiment of the present invention
Figure.
Fig. 7 shows the structural block diagram of the generating means of retro-speed track 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 generation method of retro-speed track according to an embodiment of the present invention.As shown in Figure 1, should
Method may comprise steps of:
Step S11, acceleration limit value of the automatic driving vehicle in braking process is obtained；
Step S12, it according to the present speed of the automatic driving vehicle and the acceleration limit value, calculates described automatic
Drive the braking duration of vehicle；
Step S13, the speed trajectory in the braking duration is generated for the automatic driving vehicle, the speed trajectory is used
The polynomial curve of speed and time indicate.
In the driving process of automatic driving vehicle, need for its planned trajectory.Such as: planning path track and planning speed
Spend track.Wherein, planning path track can include determining that route of the automatic driving vehicle from initial position to final position.Rule
Drawing speed trajectory can include determining that the speed of the different time of automatic driving vehicle when driving along selected path locus.
Automatic driving vehicle in case of emergency needs emergency braking, and therefore, it is necessary to plan to brake for automatic driving vehicle
Speed trajectory in the process, so that automatic driving vehicle can stop in shortest distance.
In the present embodiment, it can obtain this according to the different power performance of automatic driving vehicle and braking ability and drive automatically
Sail the limit value (acceleration limit value) of the acceleration a of vehicle.Acceleration limit value may include peak acceleration amaxAnd minimum acceleration
amin.Such as: amax=2 meters (m)/second (s)2, amin=﹣ 5m/s2, i.e. ﹣ 5m/s2≤a≤2m/s2.Wherein, minimum acceleration can also
With referred to as maximum deceleration.Acceleration limit value of the automatic driving vehicle in braking process, can usually refer to minimum acceleration
amin。
In one embodiment, the reason of its minimum acceleration can be obtained according to the performance parameter of automatic driving vehicle
By value, such as a1min.Then, by the theoretical value a1 of minimum accelerationminMultiplied by error coefficient e, minimum acceleration a2 is obtainedmin.I.e.
a2min=a1min×e.In turn, by minimum acceleration a2minIt can be used as acceleration limit of the automatic driving vehicle in braking process
Value.
Wherein it is possible to determine the size of error coefficient e based on practical experience.In addition, current where automatic driving vehicle
Environment, such as road conditions, weather condition, vehicle weight will affect the achievable minimum acceleration a2 of automatic driving vehiclemin。
It therefore, can be according to current environment, the size of alignment error coefficient e.
It, can be according to automatic driving vehicle after acceleration limit value of the automatic driving vehicle in braking process has been determined
Present speed and the acceleration limit value, calculate the braking duration of automatic driving vehicle.Wherein, braking duration may include in traveling
Automatic driving vehicle time used from starting to brake stopping completely.Such as: current time t0, automatic driving vehicle
Dwell time when stopping is t1, then this section of time span of t1 ﹣ t0 can be equal to by braking duration Δ t.
According to the present speed of automatic driving vehicle and stop speed (for example, 0), the speed in braking duration can be generated
Spend track.In one example, as shown in Fig. 2, speed trajectory may include the polynomial curve of speed (v)-time (t).It should
The starting point of speed trajectory may include the present speed v (t0) of current time t0 and automatic driving vehicle；The end of the speed trajectory
Stopping speed v (t1) when point may include dwell time t1 and automatic driving vehicle stopping.
In one embodiment, braking duration t can be according to formula t=v (t0)/aminIt calculates.Such as: it gets certainly
Dynamic present speed v (the t0)=5m/s for driving vehicle；Determine acceleration limit value a of the automatic driving vehicle in braking processmin
=﹣ 5m/s2；In turn, t=1s can be calculated.
In one embodiment, as shown in figure 3, in step s 13, may include:
Step S31, five rank multinomial functions of formation speed and time；
Step S32, according to the five rank multinomials function, with preset sampling time interval, in the braking duration
Generate multiple sampled points；
Step S33, it is fitted the multiple sampled point, to obtain the polynomial curve.
Such as: generate five rank multinomial function v (t)=x1+x2 × t+x3 × t2+x4×t3+x5×t4；Wherein, x1, x2,
X3, x4 and x5 are the coefficient of five rank multinomial function v (t).
In the present embodiment, sampling time interval, such as 0.1s can be preset, and then can be according to five rank multinomial function v (t)
Determine multiple sampled points.Wherein, sampled point may include sampling time between current time t0 and dwell time t1 (such as
0.1s, 0.2s, 0.3s etc.) and corresponding speed of each sampling time.
Fitting starting point, multiple sampled points and terminal can be generated polynomial curve and (can use five rank multinomial function v (t)
It indicates).The polynomial curve v (t) can be used to indicate speed trajectory of the automatic driving vehicle in braking duration Δ t.It is discrete
Change the speed trajectory, multiple time points corresponding speed in available braking duration Δ t.
In one embodiment, as shown in figure 4, may include: in step S31
Step S41, it is zero that the acceleration at stall when automatic driving vehicle stops, which is arranged, and stops acceleration；
Step S42, according to it is described braking duration, the present speed, the automatic driving vehicle current acceleration and
Stop speed, the acceleration at stall and the stopping acceleration, determines each level number of the five rank multinomials function.
In the present embodiment, according to braking duration Δ t, present speed v (t0), current acceleration a (t0), stop speed v
(t1), acceleration at stall a (t1) and stopping acceleration j (t1), can solve five rank multinomial function v (t)=x1+x2 × t+
x3×t2+x4×t3+x5×t4Each term coefficient x1, x2, x3, x4 and x5.
Such as: x1=5 can be obtained according to v (t0)=5m/s, t0=0s；
It can be according to a (t0)=v ' (t0)=1m/s2, t0=0s obtains x2=1；
0=x1+x2+x3+x4+x5 can be obtained according to v (t1)=0m/s, t1=1s；
It can be according to a (t1)=v ' (t1)=0m/s2, t1=1s obtains 0=x2+2x3+3x4+4x5；
It can be according to j (t1)=v " (t1)=0m/s3, t1=1s obtains 0=2x3+6x4+24x5；
And then it can solve to obtain x1=5；X2=1；X3=﹣ 13.3；X4=15.6；X5=﹣ 2.3.
Wherein, v ' (t) indicates that the single order of v (t) is led；V " (t) indicates that the second order of v (t) is led.
In the present embodiment, according to five rank multinomial function v (t), when being available for indicating automatic driving vehicle braking
The polynomial curve of speed trajectory in length, and then make the speed trajectory for obtaining acceleration and acceleration consecutive variations, in this way
Automatic driving vehicle can be made smoothly to stop in braking process.
The generation method of the retro-speed track of the present embodiment, by the acceleration limit value of braking process, when calculating braking
It is long, and then the speed trajectory in braking duration is generated according to Polynomial curve-fit, it can guarantee that each discrete velocity can be by certainly
Under the premise of dynamic driving vehicle executes, automatic driving vehicle is set to stop with most fast speed, and not will increase braking distance.Into
One step, according to the braking ability and environmental condition of automatic driving vehicle, default or alignment error coefficient can make the speed generated
Degree track more meets the performance parameter of automatic driving vehicle itself, keeps speed planning more acurrate.
Fig. 5 shows the structural block diagram of the generating means of retro-speed track according to an embodiment of the present invention.As shown in figure 5,
The apparatus may include:
Module 11 is obtained, for obtaining acceleration limit value of the automatic driving vehicle in braking process；
Computing module 12 is calculated for the present speed and the acceleration limit value according to the automatic driving vehicle
The braking duration of the automatic driving vehicle；
Generation module 13, for generating the speed trajectory in the braking duration, the speed for the automatic driving vehicle
Degree track speed and the polynomial curve of time indicate.
In one embodiment, as shown in fig. 6, generation module 13 may include:
First generates submodule 31, the five rank multinomial functions for formation speed and time；
Second generates submodule 32, is used for according to the five rank multinomials function, with preset sampling time interval, in institute
It states in braking duration and generates multiple sampled points；
It is fitted submodule 33, for being fitted the multiple sampled point, to obtain the polynomial curve.
In one embodiment, as shown in fig. 6, the first generation submodule 31 may include:
Setting unit 41, acceleration at stall and stopping acceleration when for automatic driving vehicle stopping to be arranged are
Zero；
Determination unit 42, for being added according to the braking duration, the present speed, the current of the automatic driving vehicle
Speed and stopping speed, the acceleration at stall and the stopping acceleration, determine each rank of the five rank multinomials function
Coefficient.
In one embodiment, as shown in fig. 6, computing module 12 may include:
Computational submodule 61, for according to formula t=v (t0)/amin, calculate the braking duration；Wherein, t is the system
Dynamic duration, v (t0) are the present speed, aminFor the acceleration limit value.
In one embodiment, as shown in fig. 6, acquisition module 11 may include:
Acquisition submodule 62 obtains the automatic driving vehicle for the performance parameter according to the automatic driving vehicle
Minimum acceleration theoretical value；
Acceleration limit value obtains submodule 63, for multiplied by error coefficient, obtaining the theoretical value of the minimum acceleration
The acceleration limit value.
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.
Fig. 7 shows the structural block diagram of the generating means of retro-speed track according to an embodiment of the present invention.As shown in fig. 7,
The device includes: memory 710 and processor 720, and the computer that can be executed on processor 720 is stored in memory 710
Program.The processor 720 realizes the generation side of the retro-speed track in above-described embodiment when executing the computer program
Method.The quantity of the memory 710 and processor 720 can be one or more.
The device further include:
Communication interface 730 carries out data interaction for being communicated with external device.
Memory 710 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 710, processor 720 and the independent realization of communication interface 730, memory 710,720 and of processor
Communication interface 730 can be connected with each other by bus and complete mutual communication.The bus can be Industry Standard Architecture
Structure (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 etc..For convenient for
It indicates, is only indicated with a thick line in Fig. 7, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 710, processor 720 and communication interface 730 are integrated in one piece of core
On piece, then memory 710, processor 720 and communication interface 730 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 (12)
1. a kind of generation method of retro-speed track, comprising:
Obtain acceleration limit value of the automatic driving vehicle in braking process；
According to the present speed of the automatic driving vehicle and the acceleration limit value, the system of the automatic driving vehicle is calculated
Dynamic duration；
The speed trajectory in the braking duration is generated for the automatic driving vehicle, the speed trajectory speed and time
Polynomial curve indicates.
2. the method according to claim 1, wherein being generated in the braking duration for the automatic driving vehicle
Speed trajectory, comprising:
Five rank multinomial functions of formation speed and time；
Multiple samplings are generated in the braking duration with preset sampling time interval according to the five rank multinomials function
Point；
It is fitted the multiple sampled point, to obtain the polynomial curve.
3. according to the method described in claim 2, it is characterized in that, five rank multinomial functions of formation speed and time, comprising:
It is zero that the acceleration at stall when automatic driving vehicle stops, which is arranged, and stops acceleration；
According to the braking duration, the present speed, the automatic driving vehicle current acceleration and stop speed, described
Acceleration at stall and the stopping acceleration determining each level number of the five rank multinomials function.
4. the method according to claim 1, wherein according to the present speed of the automatic driving vehicle and institute
Acceleration limit value is stated, the braking duration of the automatic driving vehicle is calculated, comprising:
According to formula t=v (t0)/amin, calculate the braking duration；Wherein, t is the braking duration, and v (t0) is described works as
Preceding speed, aminFor the acceleration limit value.
5. the method according to claim 1, wherein obtaining acceleration of the automatic driving vehicle in braking process
Limit value, comprising:
According to the performance parameter of the automatic driving vehicle, the theoretical value of the minimum acceleration of the automatic driving vehicle is obtained；
By the theoretical value of the minimum acceleration multiplied by error coefficient, the acceleration limit value is obtained.
6. a kind of generating means of retro-speed track, comprising:
Module is obtained, for obtaining acceleration limit value of the automatic driving vehicle in braking process；
Computing module, for the present speed and the acceleration limit value according to the automatic driving vehicle, calculating is described certainly
The dynamic braking duration for driving vehicle；
Generation module, for generating the speed trajectory in the braking duration, the speed trajectory for the automatic driving vehicle
It is indicated with the polynomial curve of speed and time.
7. device according to claim 6, which is characterized in that the generation module includes:
First generates submodule, the five rank multinomial functions for formation speed and time；
Second generates submodule, is used for according to the five rank multinomials function, with preset sampling time interval, in the braking
Multiple sampled points are generated in duration；
It is fitted submodule, for being fitted the multiple sampled point, to obtain the polynomial curve.
8. device according to claim 7, which is characterized in that described first, which generates submodule, includes:
Setting unit is zero for the acceleration at stall when automatic driving vehicle stops to be arranged and stops acceleration；
Determination unit, for according to it is described braking duration, the present speed, the automatic driving vehicle current acceleration and
Stop speed, the acceleration at stall and the stopping acceleration, determines each level number of the five rank multinomials function.
9. device according to claim 6, which is characterized in that the computing module includes:
Computational submodule, for according to formula t=v (t0)/amin, calculate the braking duration；Wherein, when t is the braking
Long, v (t0) is the present speed, aminFor the acceleration limit value.
10. device according to claim 6, which is characterized in that the acquisition module includes:
Acquisition submodule obtains the minimum of the automatic driving vehicle for the performance parameter according to the automatic driving vehicle
The theoretical value of acceleration；
Acceleration limit value obtains submodule, for the theoretical value of the minimum acceleration multiplied by error coefficient, to be obtained to described add
Speed limit.
11. a kind of generating means of retro-speed track 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 the method as described in any one of claims 1 to 5.
12. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any one of claims 1 to 5 is realized when row.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI740634B (en) * | 2020-09-08 | 2021-09-21 | 財團法人車輛研究測試中心 | Dynamic velocity planning method for autonomous vehicle and system thereof |
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