CN113246980A - Vehicle speed planning method and device, vehicle and storage medium - Google Patents

Vehicle speed planning method and device, vehicle and storage medium Download PDF

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Publication number
CN113246980A
CN113246980A CN202110434341.XA CN202110434341A CN113246980A CN 113246980 A CN113246980 A CN 113246980A CN 202110434341 A CN202110434341 A CN 202110434341A CN 113246980 A CN113246980 A CN 113246980A
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vehicle
acceleration
speed
distance
determining
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彭夏鹏
孟甜甜
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Qianhai Qijian Technology Shenzhen Co ltd
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Qianhai Qijian Technology Shenzhen Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to a vehicle speed planning method, a vehicle speed planning device, a vehicle and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining a reference speed and a reference distance of a vehicle, determining the distance between the vehicle and a first vehicle following point and the distance between the vehicle and a second vehicle following point according to the reference distance, further determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point, indicating the vehicle to control the running speed of the vehicle according to the target acceleration, and sequentially achieving automatic planning of the running speed of the vehicle. By adopting the method, a target equation does not need to be constructed and traversed, the calculated amount and the complexity of the whole method are reduced, the hardware resource consumption for realizing the speed planning method is correspondingly reduced, and the planning efficiency is further improved.

Description

Vehicle speed planning method and device, vehicle and storage medium
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a vehicle speed planning method, device, vehicle, and storage medium.
Background
The automatic driving is a product of deep integration of the automobile industry and new generation information technologies such as artificial intelligence, internet of things, high-performance computing and the like, is a main direction of intelligent and networking development of the automobile and traffic travel field in the world at present, and has become a strategic high point of controversy of various countries.
Sensing, planning and controlling are three major core technologies in automatic driving, and safe, comfortable, energy-saving and efficient automatic driving of an intelligent vehicle can be realized only by supplementing the three parts. Planning generally includes two parts, path planning and speed planning. The speed planning is a process of planning ideal target speed and target acceleration for the future driving of the own vehicle according to the obstacle information and the current driving state of the own vehicle.
In the prior art, the speed planning method for automatic vehicle driving has the disadvantages of complex process, large calculated amount and low planning efficiency.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle speed planning method, device, vehicle and storage medium for solving the above technical problems.
A vehicle speed planning method comprising:
acquiring a reference speed and a reference distance of a vehicle; the reference speed is a preset speed or the running speed of an obstacle in front of the running of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle;
determining the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the car;
and determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first following point and the distance between the vehicle and the second following point, and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
In one embodiment, determining the target acceleration of the vehicle according to the current running speed, the reference speed, the distance between the vehicle and the first following point and the distance between the vehicle and the second following point comprises:
determining a first planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and the first following point;
determining a second planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and a second vehicle following point;
and weighting the first planned acceleration and the second planned acceleration to obtain the target acceleration of the vehicle.
In one embodiment, determining the first planned acceleration based on the current driving speed, the reference speed and the distance between the vehicle and the first following point comprises:
determining a target running speed of the vehicle according to the reference speed, the distance between the vehicle and the first following point and a preset acceleration;
determining a first reference acceleration according to a speed difference between a target running speed and a current running speed;
determining a second reference acceleration according to the speed difference between the current running speed and the reference speed and the distance between the vehicle and the first vehicle following point;
a first projected acceleration is determined based on the first reference acceleration and the second reference acceleration.
In one embodiment, determining the first projected acceleration from the first reference acceleration and the second reference acceleration comprises:
comparing the magnitude relation between the first reference acceleration and a preset acceleration;
if the first reference acceleration is smaller than the preset acceleration, determining the first reference acceleration as a first planned acceleration;
and if the first reference acceleration is not less than the preset acceleration, determining the sum of the first reference acceleration and the second reference acceleration as the first planned acceleration.
In one embodiment, determining the second planned acceleration based on the current driving speed, the reference speed, and the distance between the vehicle and the second following point includes:
acquiring a speed difference between the current running speed and a reference speed;
a second planned acceleration is determined based on the speed difference and the distance between the vehicle and the second following point.
In one embodiment, weighting the first planned acceleration and the second planned acceleration to obtain a target acceleration of the vehicle includes:
determining a first weight corresponding to the first planned acceleration and a second weight corresponding to the second planned acceleration according to the distance between the vehicle and the first following point; wherein the sum of the first weight and the second weight is 1;
performing weighting processing according to the first weight, the second weight, the first planned acceleration and the second planned acceleration to obtain an acceleration to be processed;
judging whether the acceleration to be processed is larger than an acceleration threshold value or not;
if so, determining the acceleration threshold as the target acceleration of the vehicle;
if not, determining the target acceleration of the vehicle according to a preset acceleration change threshold and the acceleration to be processed.
In one embodiment, determining the target acceleration of the vehicle according to the preset acceleration change threshold and the to-be-processed acceleration comprises:
performing speed planning on the vehicle for N cycles to obtain the difference between the acceleration to be processed obtained by the speed planning of the Tth time and the target acceleration of the vehicle obtained by the speed planning of the T-1 st time; n is a natural number and is not less than 1, T is sequentially valued from 1 to N, and the target acceleration of the vehicle obtained by the 0 th speed plan is 0;
if the difference of the acceleration is larger than the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the sum of the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold;
if the difference of the acceleration is smaller than the negative value of the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the difference between the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold;
and if the difference of the acceleration is larger than or equal to the negative value of the acceleration change threshold and smaller than or equal to the acceleration change threshold, determining the target acceleration of the vehicle obtained by the Tth speed plan as the to-be-processed acceleration.
A vehicle speed planning apparatus comprising:
the parameter acquisition module is used for acquiring the reference speed and the reference distance of the vehicle; the reference speed is a preset speed or the running speed of an obstacle in the running direction of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle;
the distance determining module is used for determining the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the car;
and the speed planning module is used for determining the target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
A vehicle comprising a memory and a processor, the memory storing a computer program which when executed by the processor effects the steps of:
acquiring a reference speed and a reference distance of a vehicle; the reference speed is a preset speed or the running speed of an obstacle in front of the running of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle;
determining the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the car;
and determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first following point and the distance between the vehicle and the second following point, and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a reference speed and a reference distance of a vehicle; the reference speed is a preset speed or the running speed of an obstacle in front of the running of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle;
determining the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the car;
and determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first following point and the distance between the vehicle and the second following point, and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
According to the vehicle speed planning method, the vehicle speed planning device, the vehicle and the storage medium, the reference speed and the reference distance of the vehicle are obtained, the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point are determined according to the reference distance, and then the target acceleration of the vehicle is determined according to the current running speed, the reference speed, the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point of the vehicle, so that the vehicle is instructed to control the running speed of the vehicle according to the target acceleration, and the automatic planning of the running speed of the vehicle is sequentially realized. The speed planning method has the advantages that the target equation for restraining the running parameters of the self-vehicle is prevented from being constructed through the running parameters of the front vehicle in the traditional technology, the optimal solution of the target equation is solved by traversing the running parameters meeting the parameter restraining conditions, and the planning of the running parameters of the self-vehicle such as the running speed, the acceleration and the jerk is realized.
Drawings
FIG. 1 is a diagram of an exemplary vehicle speed planning method;
FIG. 2 is a flow diagram of a method for vehicle speed planning in accordance with one embodiment;
FIG. 3 is a schematic flow chart illustrating the determination of a target acceleration in one embodiment;
FIG. 4 is a flow diagram illustrating a process for determining a target travel speed according to one embodiment;
FIG. 5 is a schematic flow chart illustrating the determination of a first projected acceleration in one embodiment;
FIG. 6 is a schematic flow chart illustrating a process for determining a target acceleration based on a first projected acceleration and a second projected acceleration according to one embodiment;
FIG. 7 is a schematic flow chart illustrating the determination of a target acceleration in another embodiment;
FIG. 8 is a block diagram of a vehicle speed planning apparatus according to an embodiment;
fig. 9 is an internal structural view of a vehicle in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle speed planning method provided by the application can be applied to the application environment shown in fig. 1. Where the vehicle 102 is traveling on a road, there may be an obstacle 104 in the direction of travel of the vehicle 102 (i.e., the host vehicle), and the obstacle 104 may be a motor vehicle, a bicycle, a pedestrian, a tree of roadways, or the like that affects the travel of the vehicle 102. The vehicle 102 acquires its own reference speed vfAnd a reference distance S, determining a distance S1 between the vehicle 102 and the first following point P1 and a distance S2 between the vehicle 102 and the second following point P2 according to the reference distance S, and further determining the current running speed v and the reference speed v according to the current running speed v and the reference speed vfThe distance S1 between the vehicle and the first following point, and the distance S2 between the vehicle and the second following point determine a target acceleration of the vehicle, and instruct the vehicle to control the running speed of the vehicle according to the target acceleration. Wherein the reference speed v is determined in case there is no obstacle 104 in the traveling direction of the vehicle 102fThe reference distance S is a preset distance for a preset speed, and the reference speed v is a preset distance in the case where an obstacle 104 exists in the traveling direction of the vehicle 102 (as in the case shown in fig. 1)fThen it is the obstacle104, and the reference distance S is the distance between the obstacle 104 and the vehicle 102. The first following point P1 and the second following point P2 are used to limit the safety braking distance of the vehicle 102.
In one embodiment, as shown in fig. 2, a vehicle speed planning method is provided, which is exemplified by the application of the method to the vehicle in fig. 1, and comprises the following steps:
and S210, acquiring a reference speed and a reference distance of the vehicle.
The reference speed is a preset speed or the running speed of an obstacle in the running direction of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle.
Alternatively, the vehicle determines the driving speed of the obstacle in front of the vehicle according to the sensing data of the obstacle acquired by the sensor, and the driving speed is used as the reference speed vfAnd determining the distance between the current time and the obstacle as the reference distance S. If the vehicle sensor does not acquire the sensing data of the obstacle located in front of the vehicle, that is, it is determined that there is no obstacle in front of the vehicle, assuming that there is a virtual obstacle having a traveling speed (the maximum speed limit of the vehicle) at a preset distance (e.g., 1000m) from the vehicle, it is correspondingly determined that the preset speed is the reference speed vfAnd the preset distance is the reference distance S. The vehicle can also acquire the running speed of an obstacle in front of the running of the vehicle and the distance from the vehicle through a road side device communicated with the vehicle, and the corresponding speed is used as the reference speed vfCorrespondingly, if the road side equipment does not acquire the running speed of the obstacle positioned in front of the running of the self vehicle and the distance between the road side equipment and the self vehicle, determining that no obstacle exists in front of the running of the self vehicle, and correspondingly determining that the preset speed is the reference speed vfAnd determining the preset distance as the reference distance S. Therefore, the vehicle speed planning method can be adopted no matter the vehicle is in a following driving scene (with an obstacle) or a constant-speed cruising scene (without the obstacle) in automatic driving.
And S220, determining the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point according to the reference distance.
Wherein, first car point and the second car point of following is used for restricting the safe braking distance of vehicle.
The present embodiment is described taking as an example that the obstacle/virtual obstacle in the traveling direction of the vehicle 102 is a motor vehicle (i.e., a preceding vehicle), and alternatively, the first following point and the second following point may be position points that are a preset distance away from the preceding vehicle. For example, as shown in fig. 1, the first following point P1 is a position point on the road at a distance s1 from the leading vehicle, and s1 is 10 m; the second following point P2 is a point on the road at a distance s2 from the leading vehicle, and s2 is 3 m. The distance S2 between the vehicle 102 and the second following point P2 is S-S2, corresponding to the distance S1 between the vehicle 102 and the first following point P1 being S-S1.
Alternatively, the first following point and the second following point may also be position points determined according to the following vehicle distance. The following distance is used for indicating the maximum response time of the driver of the vehicle in order to avoid the vehicle from colliding with the front vehicle when the front vehicle stops. The first following point P1 is a position point on the road at a distance s1 'from the preceding vehicle, s 1' is equal to the reference speed vfDistance tau from the first car following1A second following point P2 is a point on the road at a distance s2 'from the leading vehicle, s 2' is equal to the reference speed vfDistance tau from second car following2I.e. s1 ═ vf*τ1，s2’＝vf*τ2(ii) a Wherein, tau1＝3s,τ21 s. The distance S2 between the vehicle 102 and the second following point P2 is S-S2 ', corresponding to the distance S1 between the vehicle 102 and the first following point P1 being S-S1'.
Alternatively, the vehicle may obtain both S1 and S2 determined according to the above-described preset distance and S1 'and S2' determined according to the above-described following vehicle distance, select S1, i.e., S1 ═ S-max (S1, S1 '), of the larger of S1 and S1' and select S2, i.e., S2 ═ S-max (S2, S2 '), of the larger of S2 and S2'.
And S230, determining a target acceleration of the vehicle according to the current running speed, the reference speed, the distance between the vehicle and the first following point and the distance between the vehicle and the second following point, and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
Optionally, the vehicle is dependent on the current speed of travel v, the reference speed vfAnd the distance S1 between the vehicle and the first following point determines an acceleration a1 for adjusting the running speed of the vehicle, and the reference speed v is determined according to the current running speed vfAnd the distance S2 between the vehicle and the second following point determines another acceleration a2 for adjusting the running speed of the vehicle, and the two accelerations are combined to obtain a target acceleration a of the vehicle, so that the vehicle speed control component in the vehicle is instructed to control the running speed of the vehicle according to the target acceleration a.
In this embodiment, the vehicle determines the target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first following point, and the distance between the vehicle and the second following point by acquiring the reference speed and the reference distance of the vehicle, and determining the distance between the vehicle and the first following point and the distance between the vehicle and the second following point, so as to instruct the vehicle to control the running speed of the vehicle according to the target acceleration, thereby implementing automatic planning of the running speed of the vehicle. The speed planning method has the advantages that the target equation for restraining the running parameters of the self-vehicle is prevented from being constructed through the running parameters of the front vehicle in the traditional technology, the optimal solution of the target equation is solved by traversing the running parameters meeting the parameter restraining conditions, and the planning of the running parameters of the self-vehicle such as the running speed, the acceleration and the jerk is realized.
In one embodiment, in order to ensure comfort and safety of the user in the vehicle, as shown in fig. 3, the S230 includes:
and S310, determining a first planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and the first following point.
Alternatively, the vehicle mayAccording to the current running speed v and the reference speed vfAnd directly determining a first planned acceleration a1 from the speed difference δ v and the distance S1 between the vehicle and the first following point. For example, δ v ═ max (v-v)f0), a1 ═ δ v/2max (S1, 0.1), where, when v-vfIf the current running speed of the representation own vehicle is less than the running speed of the preceding vehicle, δ v is 0, and a1 is obtained correspondingly, namely, the speed of the own vehicle can not be planned under the condition.
And S320, determining a second planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and the second vehicle following point.
Specifically, the vehicle can be driven according to the current running speed v and the reference speed vfAnd a second planned acceleration a2 is directly determined from the speed difference δ v and the distance S2 between the vehicle and the second following point. Wherein δ v ═ max (v-v)f0), a2 ═ δ v/2max (S2, 0.1), where, when v-vfIf the current running speed of the representation own vehicle is less than the running speed of the preceding vehicle, δ v is 0, and a1 is obtained correspondingly, namely, the speed of the own vehicle can not be planned under the condition.
S330, weighting the first planned acceleration and the second planned acceleration to obtain the target acceleration of the vehicle.
Optionally, the vehicle acquires a first weight w1 corresponding to the first planned acceleration a1 and a second weight w1 corresponding to the second planned acceleration a2, and the first weight w1 and the second weight w2 are respectively used to weight and sum the first planned acceleration a1 and the second planned acceleration a2 to obtain a target acceleration a of the vehicle, that is, a ═ a1 × w1+ a2 × w 2; wherein w1+ w2 is 1. Alternatively, w1 ═ w2 ═ 0.5 can be specified.
In an alternative embodiment, as shown in fig. 4, the step S310 includes:
and S410, determining the target running speed of the vehicle according to the reference speed, the distance between the vehicle and the first following point and the preset acceleration.
Wherein a predetermined acceleration acomfI.e. the acceleration experienced by the user as most comfortable during the driving or braking of the vehicle as a practical matterDegree, e.g. acomf＝1m/s2。
In particular, to ensure comfort of the user while the vehicle is in motion, the vehicle may be driven according to a reference speed vfThe distance S1 between the vehicle and the first following point and the preset acceleration acomA target running speed V that the vehicle is expected to reach is derived. Wherein the content of the first and second substances,
Figure BDA0003032481360000091
if V > VmaxAnd V is taken asm，VmThe maximum speed limit that can be reached by the vehicle.
And S420, determining a first reference acceleration according to the speed difference between the target running speed and the current running speed.
Specifically, the vehicle determines a first reference acceleration a from a speed difference between a target running speed V obtained to ensure comfort of a user in running of the vehicle and a current running speed V of the own vehiclev. Wherein the content of the first and second substances,
av＝ka(V-v)
kaas a speed conversion coefficient, ka＝0.3s-1。
And S430, determining a second reference acceleration according to the speed difference between the current running speed and the reference speed and the distance between the vehicle and the first vehicle following point.
In particular, the current driving speed v is adjusted to a reference speed v in order to ensure that the vehicle is within the distance between the vehicle and the first following pointfI.e. to ensure the safety of the user (the vehicle does not end up), the vehicle is driven according to the current driving speed v and the reference speed vfThe speed difference deltav between them, and determines a second reference acceleration a from the speed difference deltav and the distance S1 between the vehicle and the first following points1. For example, δ v ═ max (v-v)f，0)，as1- δ v/2max (S1, 0.1), wherein, when v-vfIf the current running speed of the representation own vehicle is less than the running speed of the preceding vehicle, delta v is 0, and a is correspondingly obtaineds1That is, in this case, the operation may be performed without going to the vehicleAnd (6) planning the speed.
And S440, determining a first planned acceleration according to the first reference acceleration and the second reference acceleration.
In particular, the vehicle integrates the above-mentioned predetermined acceleration a for ensuring the safety and comfort of the user during the travel of the vehiclecomfDerived first reference acceleration avAnd adjusting the current running speed v of the vehicle to the reference speed v in order to ensure that the vehicle is within the distance S1 between the vehicle and the first following pointfDerived second reference acceleration as1A first planned acceleration a1 determined on the basis of the first following point is then obtained.
In an optional embodiment, as shown in fig. 5, the step S440 specifically includes:
and S510, comparing the magnitude relation between the second reference acceleration and the preset acceleration.
S520, if the second reference acceleration is smaller than the preset acceleration, determining the second reference acceleration as the first planned acceleration.
S530, if the second reference acceleration is not smaller than the preset acceleration, determining the sum of the first reference acceleration and the second reference acceleration as a first planned acceleration.
Specifically, the vehicle compares the second reference acceleration as1With a predetermined acceleration acomfTo determine a first planned acceleration a 1. Wherein the content of the first and second substances,
Figure BDA0003032481360000101
in this embodiment, the vehicle determines a first planned acceleration according to the current running speed, the reference speed, and the distance between the vehicle and the first following point, determines a second planned acceleration according to the current running speed, the reference speed, and the distance between the vehicle and the second following point, and performs weighting processing on the first planned acceleration and the second planned acceleration to obtain a target acceleration of the vehicle, so that the target acceleration of the vehicle is determined comprehensively according to the first following point and the second following point, and the running speed of the vehicle is controlled by using the target acceleration that satisfies comfort and safety of a user when riding, thereby implementing speed planning of the vehicle.
In one embodiment, the process of refining the vehicle speed plan, as shown in fig. 6, the step S330 includes:
s610, determining a first weight corresponding to the first planned acceleration and a second weight corresponding to the second planned acceleration according to the distance between the vehicle and the first vehicle following point.
Wherein the sum of the first weight and the second weight is 1.
Specifically, the vehicle subtracts a distance S1 between a first following point P1 and the front vehicle from a reference distance S between the vehicle and the front vehicle to obtain a distance S1 between the vehicle and the first following point, determines a first weight w1 corresponding to the first planned acceleration a1 according to the distance S1 between the vehicle and the first following point, and calculates a second weight w2 corresponding to the second planned acceleration a2 by using 1-w 1. Wherein the content of the first and second substances,
if S1 > L1, w1 is 0.5, corresponding to w 2-w 1 is 0.5; wherein, L1 is 10 m;
if L2 is not less than S1 is not less than L1, w1 is 0.05S1, and corresponding w2 is 1-w1 is 1-0.05S 1; wherein, L2 ═ 0 m;
if S1 < L1, w1 is 0, corresponding to w 2-1-w 1-1.
S620, carrying out weighting processing according to the first weight, the second weight, the first planned acceleration and the second planned acceleration to obtain the acceleration to be processed.
Specifically, the acceleration a' to be processed is a1 w1+ a2 w 2.
And S630, judging whether the acceleration to be processed is larger than an acceleration threshold value.
And S640, if so, determining the acceleration threshold value as the target acceleration of the vehicle.
And S650, if not, determining the target acceleration of the vehicle according to the preset acceleration change threshold and the acceleration to be processed.
Specifically, the vehicle further judges the to-be-processed acceleration a' and the acceleration threshold a obtained after weighting0The magnitude relationship between them. Wherein the acceleration threshold a0For characterising what is accessible to the vehicleThe maximum acceleration. If a' > a0The vehicle is characterized in that emergency braking is needed, and the acceleration threshold value a' is determined as the target acceleration a of the vehicle; if a' is less than or equal to a0The vehicle is characterized in that emergency braking is not required, and the vehicle changes according to a preset acceleration change threshold value delta alimitAnd the to-be-processed acceleration a' determines a target acceleration a of the vehicle.
In an alternative embodiment, the comfort of the user in the vehicle is further improved, as shown in fig. 7, the step S650 includes:
s710, performing speed planning on the vehicle for N cycles, and acquiring the difference between the acceleration to be processed obtained by the speed planning of the Tth time and the target acceleration of the vehicle obtained by the speed planning of the T-1 st time.
N is a natural number and is not less than 1, T is sequentially valued from 1 to N, and the target acceleration of the vehicle obtained by the 0 th speed plan is 0.
Specifically, the vehicle performs speed planning on the own vehicle for N cycles, and each speed planning is based on the target acceleration of the vehicle obtained by the last planning, so as to wait for the target acceleration of the vehicle obtained by the current speed planning. T is sequentially valued from 1 to N, and the acceleration a to be processed is obtained by adopting the Tth speed plan of the vehicleT' target acceleration a of vehicle obtained by subtracting T-1 th speed scheduleT-1To obtain aT' and aT-1The difference delta a is compared with the acceleration change threshold delta alimitThe target acceleration a obtained by the Tth speed planning of the vehicle is determined by the size of the intervalT。
S720, if the difference of the accelerations is larger than the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth acceleration planning is the sum of the target acceleration of the vehicle obtained by the T-1 st acceleration planning and the acceleration change threshold.
And S730, if the difference of the accelerations is smaller than the negative value of the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth acceleration plan is the difference between the target acceleration of the vehicle obtained by the T-1 th acceleration plan and the acceleration change threshold.
And S740, if the difference of the accelerations is larger than or equal to the negative value of the acceleration change threshold and smaller than or equal to the acceleration change threshold, determining the target acceleration of the vehicle obtained by the Tth acceleration planning as the acceleration to be processed.
Specifically, δ a ═ aT’-aT-1Wherein, in the step (A),
Figure BDA0003032481360000121
and, δ alimitJ erk is a jerk that ensures comfort, j erk is 1, and t is a cycle time of a predetermined cycle operation.
In this embodiment, the vehicle performs periodic speed planning on the own vehicle, each speed planning is based on the target acceleration of the vehicle obtained by the last planning, and waits for the target acceleration of the vehicle obtained by the current speed planning, specifically, an acceleration difference between the to-be-processed acceleration of the vehicle obtained by the current speed planning and the target acceleration of the vehicle obtained by the last planning is obtained, and the acceleration difference is compared with an acceleration change threshold value to determine an appropriate acceleration, so as to soften the target acceleration, and further improve the riding comfort of a user when the running speed of the vehicle is controlled by the target acceleration obtained by the planning.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 8, there is provided a vehicle speed planning apparatus including: a parameter acquisition module 801, a distance determination module 802, and a speed planning module 803, wherein:
the parameter obtaining module 801 is used for obtaining a reference speed and a reference distance of the vehicle; the reference speed is a preset speed or the running speed of an obstacle in the running direction of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle;
the distance determining module 802 is configured to determine a distance between the vehicle and the first following point and a distance between the vehicle and the second following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the car;
the speed planning module 803 is configured to determine a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first following point, and the distance between the vehicle and the second following point, and instruct the vehicle to control the running speed of the vehicle according to the target acceleration.
In one embodiment, the speed planning module 803 is specifically configured to:
determining a first planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and the first following point; determining a second planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and a second vehicle following point; and weighting the first planned acceleration and the second planned acceleration to obtain the target acceleration of the vehicle.
In one embodiment, the speed planning module 803 is specifically configured to:
determining a target running speed of the vehicle according to the reference speed, the distance between the vehicle and the first following point and a preset acceleration; determining a first reference acceleration according to a speed difference between a target running speed and a current running speed; determining a second reference acceleration according to the speed difference between the current running speed and the reference speed and the distance between the vehicle and the first vehicle following point; a first projected acceleration is determined based on the first reference acceleration and the second reference acceleration.
In one embodiment, the speed planning module 803 is specifically configured to:
comparing the magnitude relation between the first reference acceleration and a preset acceleration; if the first reference acceleration is smaller than the preset acceleration, determining the first reference acceleration as a first planned acceleration; and if the first reference acceleration is not less than the preset acceleration, determining the sum of the first reference acceleration and the second reference acceleration as the first planned acceleration.
In one embodiment, the speed planning module 803 is specifically configured to:
acquiring a speed difference between the current running speed and a reference speed; a second planned acceleration is determined based on the speed difference and the distance between the vehicle and the second following point.
In one embodiment, the speed planning module 803 is specifically configured to:
determining a first weight corresponding to the first planned acceleration and a second weight corresponding to the second planned acceleration according to the distance between the vehicle and the first following point; wherein the sum of the first weight and the second weight is 1; performing weighting processing according to the first weight, the second weight, the first planned acceleration and the second planned acceleration to obtain an acceleration to be processed; judging whether the acceleration to be processed is larger than an acceleration threshold value or not; if so, determining the acceleration threshold as the target acceleration of the vehicle; if not, determining the target acceleration of the vehicle according to a preset acceleration change threshold and the acceleration to be processed.
In one embodiment, the speed planning module 803 is specifically configured to:
performing speed planning on the vehicle for N cycles to obtain the difference between the acceleration to be processed obtained by the speed planning of the Tth time and the target acceleration of the vehicle obtained by the speed planning of the T-1 st time; n is a natural number and is not less than 1, T is sequentially valued from 1 to N, and the target acceleration of the vehicle obtained by the 0 th speed plan is 0; if the difference of the acceleration is larger than the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the sum of the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold; if the difference of the acceleration is smaller than the negative value of the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the difference between the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold; and if the difference of the acceleration is larger than or equal to the negative value of the acceleration change threshold and smaller than or equal to the acceleration change threshold, determining the target acceleration of the vehicle obtained by the Tth speed plan as the to-be-processed acceleration.
For specific limitations of the vehicle speed planning device, reference may be made to the above limitations of the vehicle speed planning method, which are not described herein again. All or part of the modules in the vehicle speed planning device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a vehicle is provided, the internal structure of which may be as shown in fig. 9. The vehicle includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the vehicle is configured to provide computing and control capabilities. The memory of the vehicle includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the vehicle is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle speed planning method. The display screen of the vehicle can be a liquid crystal display screen or an electronic ink display screen, and the input device of the vehicle can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a vehicle shell, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the configuration shown in fig. 9 is a block diagram of only a portion of the configuration associated with the subject application and is not intended to limit the vehicles to which the subject application may be applied, and that a particular vehicle may include more or fewer components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a vehicle is provided comprising a memory having a computer program stored therein and a processor that when executed implements the steps of:
acquiring a reference speed and a reference distance of a vehicle; the reference speed is a preset speed or the running speed of an obstacle in front of the running of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle; determining the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the car; and determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first following point and the distance between the vehicle and the second following point, and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a first planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and the first following point; determining a second planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and a second vehicle following point; and weighting the first planned acceleration and the second planned acceleration to obtain the target acceleration of the vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a target running speed of the vehicle according to the reference speed, the distance between the vehicle and the first following point and a preset acceleration; determining a first reference acceleration according to a speed difference between a target running speed and a current running speed; determining a second reference acceleration according to the speed difference between the current running speed and the reference speed and the distance between the vehicle and the first vehicle following point; a first projected acceleration is determined based on the first reference acceleration and the second reference acceleration.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
comparing the magnitude relation between the first reference acceleration and a preset acceleration; if the first reference acceleration is smaller than the preset acceleration, determining the first reference acceleration as a first planned acceleration; and if the first reference acceleration is not less than the preset acceleration, determining the sum of the first reference acceleration and the second reference acceleration as the first planned acceleration.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a speed difference between the current running speed and a reference speed; a second planned acceleration is determined based on the speed difference and the distance between the vehicle and the second following point.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a first weight corresponding to the first planned acceleration and a second weight corresponding to the second planned acceleration according to the distance between the vehicle and the first following point; wherein the sum of the first weight and the second weight is 1; performing weighting processing according to the first weight, the second weight, the first planned acceleration and the second planned acceleration to obtain an acceleration to be processed; judging whether the acceleration to be processed is larger than an acceleration threshold value or not; if so, determining the acceleration threshold as the target acceleration of the vehicle; if not, determining the target acceleration of the vehicle according to a preset acceleration change threshold and the acceleration to be processed.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
performing speed planning on the vehicle for N cycles to obtain the difference between the acceleration to be processed obtained by the speed planning of the Tth time and the target acceleration of the vehicle obtained by the speed planning of the T-1 st time; n is a natural number and is not less than 1, T is sequentially valued from 1 to N, and the target acceleration of the vehicle obtained by the 0 th speed plan is 0; if the difference of the acceleration is larger than the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the sum of the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold; if the difference of the acceleration is smaller than the negative value of the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the difference between the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold; and if the difference of the acceleration is larger than or equal to the negative value of the acceleration change threshold and smaller than or equal to the acceleration change threshold, determining the target acceleration of the vehicle obtained by the Tth speed plan as the to-be-processed acceleration.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a reference speed and a reference distance of a vehicle; the reference speed is a preset speed or the running speed of an obstacle in front of the running of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle; determining the distance between the vehicle and the first vehicle following point and the distance between the vehicle and the second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the car; and determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and the first following point and the distance between the vehicle and the second following point, and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a first planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and the first following point; determining a second planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and a second vehicle following point; and weighting the first planned acceleration and the second planned acceleration to obtain the target acceleration of the vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a target running speed of the vehicle according to the reference speed, the distance between the vehicle and the first following point and a preset acceleration; determining a first reference acceleration according to a speed difference between a target running speed and a current running speed; determining a second reference acceleration according to the speed difference between the current running speed and the reference speed and the distance between the vehicle and the first vehicle following point; a first projected acceleration is determined based on the first reference acceleration and the second reference acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
comparing the magnitude relation between the first reference acceleration and a preset acceleration; if the first reference acceleration is smaller than the preset acceleration, determining the first reference acceleration as a first planned acceleration; and if the first reference acceleration is not less than the preset acceleration, determining the sum of the first reference acceleration and the second reference acceleration as the first planned acceleration.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a speed difference between the current running speed and a reference speed; a second planned acceleration is determined based on the speed difference and the distance between the vehicle and the second following point.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a first weight corresponding to the first planned acceleration and a second weight corresponding to the second planned acceleration according to the distance between the vehicle and the first following point; wherein the sum of the first weight and the second weight is 1; performing weighting processing according to the first weight, the second weight, the first planned acceleration and the second planned acceleration to obtain an acceleration to be processed; judging whether the acceleration to be processed is larger than an acceleration threshold value or not; if so, determining the acceleration threshold as the target acceleration of the vehicle; if not, determining the target acceleration of the vehicle according to a preset acceleration change threshold and the acceleration to be processed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
performing speed planning on the vehicle for N cycles to obtain the difference between the acceleration to be processed obtained by the speed planning of the Tth time and the target acceleration of the vehicle obtained by the speed planning of the T-1 st time; n is a natural number and is not less than 1, T is sequentially valued from 1 to N, and the target acceleration of the vehicle obtained by the 0 th speed plan is 0; if the difference of the acceleration is larger than the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the sum of the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold; if the difference of the acceleration is smaller than the negative value of the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed planning is the difference between the target acceleration of the vehicle obtained by the T-1 th speed planning and the acceleration change threshold; and if the difference of the acceleration is larger than or equal to the negative value of the acceleration change threshold and smaller than or equal to the acceleration change threshold, determining the target acceleration of the vehicle obtained by the Tth speed plan as the to-be-processed acceleration.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A method of vehicle speed planning, the method comprising:
acquiring a reference speed and a reference distance of a vehicle; the reference speed is a preset speed or the running speed of an obstacle in front of the running of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle;
determining the distance between the vehicle and a first vehicle following point and the distance between the vehicle and a second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the vehicle;
determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and a first following point and the distance between the vehicle and a second following point, and instructing the vehicle to control the running speed of the vehicle according to the target acceleration.
2. The method of claim 1, wherein determining the target acceleration of the vehicle based on the current travel speed, the reference speed, the distance between the vehicle and a first following point, and the distance between the vehicle and a second following point comprises:
determining a first planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and a first following point;
determining a second planned acceleration according to the current running speed, the reference speed and the distance between the vehicle and a second vehicle following point;
and carrying out weighting processing on the first planned acceleration and the second planned acceleration to obtain the target acceleration of the vehicle.
3. The method of claim 2, wherein determining a first projected acceleration as a function of the current travel speed, the reference speed, and a distance between the vehicle and a first following point comprises:
determining a target running speed of the vehicle according to the reference speed, the distance between the vehicle and a first vehicle following point and a preset acceleration;
determining a first reference acceleration according to a speed difference between the target running speed and the current running speed;
determining a second reference acceleration according to the speed difference between the current running speed and the reference speed and the distance between the vehicle and a first vehicle following point;
determining the first planned acceleration from the first reference acceleration and the second reference acceleration.
4. The method of claim 3, wherein determining the first planned acceleration from the first reference acceleration and the second reference acceleration comprises:
comparing the magnitude relation between the first reference acceleration and the preset acceleration;
if the first reference acceleration is smaller than the preset acceleration, determining the first reference acceleration as the first planned acceleration;
and if the first reference acceleration is not smaller than the preset acceleration, determining the sum of the first reference acceleration and the second reference acceleration as the first planned acceleration.
5. The method of claim 2, wherein determining a second projected acceleration from the current travel speed, the reference speed, and a distance between the vehicle and a second following point comprises:
acquiring a speed difference between the current running speed and the reference speed;
determining the second planned acceleration based on the speed difference and a distance between the vehicle and a second following point.
6. The method of claim 2, wherein weighting the first and second projected accelerations to obtain a target acceleration for the vehicle comprises:
determining a first weight corresponding to the first planned acceleration and a second weight corresponding to the second planned acceleration according to the distance between the vehicle and a first vehicle following point; wherein the sum of the first weight and the second weight is 1;
performing weighting processing according to the first weight, the second weight, the first planned acceleration and the second planned acceleration to obtain an acceleration to be processed;
judging whether the acceleration to be processed is larger than an acceleration threshold value;
if so, determining the acceleration threshold as the target acceleration of the vehicle;
if not, determining the target acceleration of the vehicle according to a preset acceleration change threshold and the acceleration to be processed.
7. The method of claim 6, wherein determining the target acceleration of the vehicle based on a preset acceleration change threshold and the pending acceleration comprises:
performing speed planning on the vehicle for N cycles to obtain the difference between the acceleration to be processed obtained by the speed planning of the Tth time and the target acceleration of the vehicle obtained by the speed planning of the T-1 st time; n is a natural number and is not less than 1, T is sequentially valued from 1 to N, and the target acceleration of the vehicle obtained by the 0 th speed plan is 0;
if the difference of the acceleration is larger than the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed schedule is the sum of the target acceleration of the vehicle obtained by the Tth-1 st speed schedule and the acceleration change threshold;
if the difference of the acceleration is smaller than the negative value of the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth speed schedule is the difference between the target acceleration of the vehicle obtained by the Tth-1 st speed schedule and the acceleration change threshold;
and if the difference of the acceleration is larger than or equal to the negative value of the acceleration change threshold and smaller than or equal to the acceleration change threshold, determining that the target acceleration of the vehicle obtained by the Tth-time speed plan is the acceleration to be processed.
8. A vehicle speed planning apparatus, the apparatus comprising:
the parameter acquisition module is used for acquiring the reference speed and the reference distance of the vehicle; the reference speed is a preset speed or the running speed of an obstacle in the running direction of the vehicle, and the reference distance is a preset distance or the distance between the obstacle and the vehicle;
the distance determining module is used for determining the distance between the vehicle and a first vehicle following point and the distance between the vehicle and a second vehicle following point according to the reference distance; the first car following point and the second car following point are used for limiting the safe braking distance of the vehicle;
and the speed planning module is used for determining a target acceleration of the vehicle according to the current running speed of the vehicle, the reference speed, the distance between the vehicle and a first vehicle following point and the distance between the vehicle and a second vehicle following point and indicating the vehicle to control the running speed of the vehicle according to the target acceleration.
9. A vehicle comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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Application publication date: 20210813