CN117284316A - Speed planning method, terminal equipment, medium and automatic driving equipment - Google Patents
Speed planning method, terminal equipment, medium and automatic driving equipment Download PDFInfo
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Classifications
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
Abstract
The embodiment of the application provides a speed planning method, terminal equipment, medium and automatic driving equipment, wherein in the speed planning method, constraint conditions and cost functions are acquired, wherein the constraint conditions represent the constraint of the automatic driving equipment in a space domain, the space domain is a position time coordinate system, and the cost functions represent control targets of the automatic driving equipment in the space domain; solving the cost function based on the constraint condition to obtain a space domain speed change function; controlling the speed according to the space domain speed change function; the method realizes the speed planning associated with the position, so that the equipment can accurately accord with the actual speed limit, and the running of the equipment is more stable and safer.
Description
[ field of technology ]
The embodiment of the application relates to the technical field of computers, in particular to a speed planning method, terminal equipment, medium and automatic driving equipment.
[ background Art ]
Unmanned devices such as autonomous vehicles (Automated Driving Vehicle, ADV) travel in need of meeting speed limit constraints.
Speed limit constraints are often associated with locations, and existing speed planning schemes in the industry all use time-based optimization methods, which are not matched, so that speed planning results often do not strictly meet speed limit requirements.
[ invention ]
The embodiment of the application provides a speed planning method, terminal equipment, medium and automatic driving equipment, so that speed planning associated with a position is realized, the equipment can accurately meet the actual speed limit, and the equipment can run more stably and safely.
In a first aspect, an embodiment of the present application provides a speed planning method, where the method is applied to an automatic driving device, and includes: obtaining constraint conditions and a cost function, wherein the constraint conditions represent constraints of the automatic driving equipment in a spatial domain, the spatial domain is a position time coordinate system, and the cost function represents a control target of the automatic driving equipment in the spatial domain; solving the cost function based on the constraint condition to obtain a space domain speed change function; and controlling the speed according to the space domain speed change function.
According to the speed planning method, the cost function is solved by combining the constraint conditions in the space domain, so that the space domain speed change function is obtained, the speed change function is an accurate constraint associated with the position, speed control is performed according to the speed change function, the equipment can accurately meet the actual speed limit, and the running cost of the equipment is considered by the speed change function, so that the equipment can run more stably and safely.
In one possible implementation manner, the method further includes: and forming constraint conditions in the space domain according to constraint information, wherein the constraint information at least comprises path decision, speed constraint information and power information of the automatic driving equipment.
In one possible implementation manner, the constructing constraint conditions in the spatial domain according to the constraint information includes: and generating an upper bound and a lower bound in a space domain according to a path decision, wherein the path decision represents a planned path of the automatic driving equipment.
In one possible implementation manner, the constructing constraint conditions in the spatial domain according to the constraint information includes: a speed limit constraint in the spatial domain is generated from speed limit information representing a speed limit on a planned path of the autopilot device.
In one possible implementation manner, the constructing constraint conditions in the spatial domain according to the constraint information includes: and generating acceleration constraint in a space domain according to the power information of the automatic driving device, wherein the power information represents the maximum acceleration and the maximum deceleration of the automatic driving device.
In one possible implementation manner, the method further includes: a cost function is constructed as a function of a control cost, wherein the control cost represents a driving cost of the automatic driving device.
In one possible implementation manner, the control cost includes at least one of the following: comfort, operating efficiency, safety.
In one possible implementation manner, the controlling the speed according to the spatial domain speed variation function includes: converting the space domain speed change function into a time domain to obtain a time domain speed change function, wherein the time domain is a speed time coordinate system; and controlling the speed according to the time domain speed change function.
In a second aspect, embodiments of the present application provide an autopilot apparatus, the autopilot apparatus comprising: the system comprises an acquisition module, a control module and a cost function, wherein the acquisition module is used for acquiring constraint conditions and a cost function, wherein the constraint conditions represent the constraint of the automatic driving equipment in a spatial domain, the spatial domain is a position time coordinate system, and the cost function represents a control target of the automatic driving equipment in the spatial domain; the calculation module is used for solving the cost function based on the constraint condition to obtain a space domain speed change function; and the control module is used for controlling the speed according to the space domain speed change function.
In a third aspect, an embodiment of the present application provides a terminal device, including: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the method provided in the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method provided in the first aspect.
It should be understood that the second to fourth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation manner are similar, and are not repeated.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a travel path of an autopilot device provided in one embodiment of the present application;
FIG. 2 is a flow chart of a speed planning method according to another embodiment of the present application;
FIG. 3 is a schematic diagram of the upper and lower ST boundaries of an autopilot apparatus in a spatial domain provided in accordance with yet another embodiment of the present application;
FIG. 4 is a schematic diagram of the upper and lower ST boundaries of an autopilot device in the time domain provided by one embodiment of the present application;
FIG. 5 is a schematic illustration of speed limitation in a spatial domain of an autopilot apparatus provided in another embodiment of the present application;
FIG. 6 is a schematic diagram of power information in a spatial domain of an autopilot provided in one embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an autopilot device according to another embodiment of the present disclosure.
[ detailed description ] of the invention
For a better understanding of the technical solutions of the present specification, the following detailed description of the embodiments of the present application is provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some, but not all, of the embodiments of the present description. All other embodiments, which can be made by one of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present disclosure.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The various speed limits to be followed during the travel of the unmanned device are basically bound to the location, not to the time.
In the prior art, a speed constraint (s, v limit ) Conversion to a time-dependent speed constraint (t, v limit ). The conversion method comprises the following steps:
1. consider speed limit position and host car distance, host car speed to change:
2. the speed limiting position is considered to be converted with the distance between the main vehicle and the speed of the main vehicle and the maximum running speed of the main vehicle:
3. and searching time t when the running distance is s according to the previous frame speed planning result.
By way of example, in the path shown in fig. 1, where there is a cell exit and entrance 20 meters from the unmanned device, the current vehicle speed of the unmanned device is 2m/s, the constraints (s, v) that the device should adhere to should be (20, 15). However, in the prior art, the constraint condition of converting the distance to time is that the converting method (1) is adopted to obtain time 10s, the speed limit of the converted (t, v) is (10, 15), and it can be understood that the converted constraint and the original constraint are not completely equivalent, for example, t is an estimated value, if the device runs at an acceleration according to the planned result, the speed limit area can be reached in a short time (for example, after 5 seconds), and therefore, the planned result obtained according to the method has the risk of overspeed.
Rolling planning (i.e. re-planning every 0.1 s) can mitigate the risk of overspeed, but the behaviour of the drone is still abnormal. In the above example, the problem of excessive acceleration and then deceleration of the unmanned vehicle occurs. In general, the abnormal results that may be caused by the current method include: excessive acceleration/deceleration of the vehicle, even sudden braking; the motion state of the vehicle does not meet the speed limiting requirement; where the curvature change is relatively large, a case of passing through a curve at a high speed may occur.
Based on the above problems, the embodiment of the application provides a speed planning method, which obtains a spatial domain speed change function by combining a constraint condition solving cost function in the spatial domain, wherein the speed change function is an accurate constraint associated with a position, and speed control is performed according to the speed change function, so that equipment can accurately conform to actual speed limit, and running cost of the equipment is also considered by the speed change function, so that the equipment runs more stably and safely.
Fig. 2 is a flowchart of a speed planning method according to an embodiment of the present application, and as shown in fig. 2, the speed planning method may include:
step 201, obtaining constraint conditions and a cost function, wherein the constraint conditions represent constraint of the automatic driving device in a space domain, the space domain is a position time coordinate system, and the cost function represents a control target of the automatic driving device in the space domain.
Obtaining a constraint condition and a cost function of a driving path of the automatic driving device, wherein the constraint condition is a constraint to be observed by the automatic driving device on the driving path, the constraint condition is constructed in a spatial domain, and the spatial domain can be regarded as a position-time coordinate system, and the coordinate system comprises the following components: position s as an independent variable and time t as an independent variable.
The cost function represents a control target such as the shortest travel time when the automatic driving apparatus travels on the path, and is also constructed in the spatial domain in the present application.
Further, constraint conditions in the spatial domain are formed according to constraint information, wherein the constraint information at least comprises path decision, speed constraint information and power information of the automatic driving equipment.
Constraints may be built from information on the limits of the autopilot on the path such as speed limits, path decisions, power limits of the autopilot, etc. The path decision refers to a plan of how the route is to be traversed as received/generated by the autopilot device, as in fig. 1 above, the path decision may be to traverse the road within 5 to 10 seconds. Under another path, such as: there are two obstacle vehicles a and B near the host vehicle, vehicle a will appear at host vehicle path s=20 meters at 5 seconds and vehicle B will appear at host vehicle path s=10 meters at 4 seconds. The path decision may be: let the traveling vehicle a overrun the vehicle B.
The speed limit refers to a speed limit on a path, such as a highest speed per hour, etc., and the power information refers to braking, starting power, etc., that can be output/obtained by the automatic driving apparatus.
Further, the construction method of the constraint condition is as follows:
and generating an upper bound and a lower bound in a space domain according to a path decision, wherein the path decision represents a planned path of the automatic driving equipment.
A speed limit constraint in the spatial domain is generated from speed limit information representing a speed limit on a planned path of the autopilot device.
And generating acceleration constraint in a space domain according to the power information of the automatic driving equipment, wherein the power information represents the maximum acceleration and the maximum deceleration of the automatic driving equipment.
In one embodiment of the present application, to facilitate constructing constraints in the spatial domain, some spatial domain variables are presented: slowness, slowness and slowness, and the correspondence between the variables in the spatial domain and the variables in the time domain are shown in the following table 1
| Spatial domain | Time domain |
| Slowness (w): derivative of t with respect to s | Speed (v): s derivative with respect to t |
| Slowness (b): derivative of w with respect to s | Acceleration (a): v derivative with respect to t |
| Add slowness (dark): b derivative with respect to s | Jerk (jerk): derivative of a with respect to t |
TABLE 1
The construction method of the variables is as follows:
derivative of t with respect to s
w＝dt/ds＝1/(ds/dt)＝1/v
s derivative with respect to t
v＝ds/dt＝1/(dt/ds)＝1/w
Derivative of w with respect to s
v derivative with respect to t
According to the above configuration, it is derived that the parameters in the time domain and the spatial domain have the following relationship:
in one embodiment of the present application, the speed decision is constructed as the ST upper and lower bounds of the autopilot in the spatial domain, i.e. the upper and lower bounds that should be met at time t for each location s. The upper and lower ST bounds in the path of fig. 1 are shown in fig. 3. The construction method can be as follows: according to the speed decision, the upper and lower ST bounds in the time domain are generated, as shown in fig. 4, and then the upper and lower ST bounds in the time domain are converted into the spatial domain to obtain fig. 3.
Using mathematical forms, the above process can be expressed as: in the time domain (the time domain may be a time-position coordinate system in which t is an argument and s is an argument), a constraint for each t: s is(s) 1 <s(t)<s 2 Converted into a space domain (s is an independent variable, t is an independent variable), one constraint t for each s 1 <t(s)<t 2 Or t 1 <t(s). For example, for the path decision described above: let vehicle a travel beyond vehicle B. Two constraints are constructed in the time domain, the upper bound: s (t=5)<20, lower bound: s (t=4)>10; conversion to the spatial domain yields an upper bound: t (s=20)>5, lower bound: t (s=10)<4。
The speed limit is expressed as a speed limit constraint in the spatial domain, i.e. the upper bound that should be met for each position s, the slowness w representing the derivative of t with respect to s.
For example, for fig. 1, assume a distance from the autopilot to the cell doorway of 20 meters to 30 meters, the doorway speed limit being 15km/h. The current speed is 2m/s, assuming that the speed limit of the road where the automatic driving device is located is 30km/h.
In the spatial domain, the speed limit can be directly derived: 1/w (s < 20) <30km/h,1/w (20 < s < 30) <15km/h,1/w (s > 30) <30km/h.
In contrast, if the speed limit is expressed in the time domain, it should be expressed as v (t < 10) <30km/h, v (10 < t < 15) <15km/h, v (t > 15) <30km/h, the speed limit of the path in the space domain as shown in fig. 5.
It can be seen that the speed constraint in the spatial domain is actually directly derived from the traffic rules, whereas the speed constraint in the time domain is estimated (t=10 and t=15 in the time domain are estimated), there is an error.
Depending on the power information of the automatic driving apparatus, the power information includes a maximum acceleration (a max ) And maximum deceleration (a) min )，a max And a min Typically, the dynamic information of the autopilot in the path of fig. 1 may be as shown in fig. 6, from which an acceleration constraint in the spatial domain is generated, i.e. the upper and lower bounds that should be met for each position s, slowness b, which represents the derivative of w with respect to s.
The method of constructing the speed limit constraint in the spatial domain according to table 1 above may be:
v (t) is less than or equal to v max (t) converting into v(s) v max (s), wherein v(s) =1/w(s).
The method of construction of acceleration constraints in the spatial domain may be:
will a min ≤a(t)≤a max Is converted into
Further, a cost function is constructed as a function of a control cost, wherein the control cost represents a running cost of the automatic driving apparatus.
The control cost includes at least one of: comfort, operating efficiency, safety.
The cost function is constructed from at least one control cost combination, the control cost represents the running cost of the automatic driving equipment such as comfort, running efficiency, safety and the like,
illustratively, a cost function is represented in the time domain asWhere J is the total cost and T is the integration time period; the first control cost is that comfort is denoted as a 2 For ensuring that the control of the vehicle is gentle (minimizing acceleration), the second control cost is that the operating efficiency is denoted-v for maximizing the vehicle speed.
Converting the cost function into the spatial domain
The specific form of the cost function is not limited in this application, and may be varied, exemplary, and another cost function is represented in the time domain as
And 102, solving the cost function based on the constraint condition to obtain a space domain speed change function.
The constraint and the cost function together form an optimization problem, and the cost function is solved in the spatial domain based on the constraint, resulting in a function of w with respect to s, i.e. an optimal slowness track in [0,S ].
And step 103, controlling the speed according to the space domain speed change function.
The spatial domain velocity variation function is a function of w with respect to s, from which the velocity can be controlled, for example, the slowness w is controlled according to the position s, and the slowness is expressed as w=1/v.
Optionally, converting the space domain speed change function into a time domain to obtain a time domain speed change function, wherein the time domain is a speed time coordinate system; and controlling the speed according to the time domain speed change function.
The tracking target of the control system is typically speed (e.g., PID, P term is speed error, I term is position error, D term is acceleration error), both variables are parameters in the time domain.
Thus, use is made ofConverting the spatial domain velocity variation function into the time domain to obtain a time domain velocity variation function, which is a function of v with respect to t, expressed in [0, T]Is the optimal one. And controlling the speed according to the time domain speed change function.
According to the speed planning method, the cost function is solved by combining the constraint conditions in the space domain, so that the space domain speed change function is obtained, the speed change function is an accurate constraint associated with the position, speed control is performed according to the speed change function, the equipment can accurately meet the actual speed limit, and the running cost of the equipment is considered by the speed change function, so that the equipment can run more stably and safely.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Fig. 7 is a schematic structural diagram of an autopilot apparatus according to one embodiment of the present invention, and as shown in fig. 7, the autopilot apparatus may include: an acquisition module 71, a calculation module 72 and a control module 73;
the obtaining module 71 is configured to obtain constraint conditions and a cost function, where the constraint conditions represent constraints of the autopilot device in a spatial domain, the spatial domain is a position time coordinate system, and the cost function represents a control target of the autopilot device in the spatial domain;
a calculation module 72, configured to solve the cost function based on the constraint condition, to obtain a spatial domain velocity change function;
a control module 73 for controlling the speed according to the spatial domain speed variation function.
Optionally, the automatic driving apparatus further includes:
and the constraint condition generation module is used for forming constraint conditions in the space domain according to constraint information, wherein the constraint information comprises path decision, speed constraint information and power information of the automatic driving equipment.
Preferably, the constraint condition generating module includes:
and the upper and lower bound generation module is used for generating upper and lower bounds in a space domain according to a path decision, wherein the path decision represents a planned path of the automatic driving equipment.
Optionally, the constraint condition generating module includes:
and the speed limit constraint generation module is used for generating a speed limit constraint in a space domain according to speed limit information, wherein the speed limit information represents the speed limit on a planned path of the automatic driving equipment.
Optionally, the constraint condition generating module includes:
and the acceleration constraint generation module is used for generating acceleration constraints in a space domain according to the power information of the automatic driving equipment, wherein the power information represents the maximum acceleration and the maximum deceleration of the automatic driving equipment.
Optionally, the automatic driving apparatus further includes:
and the cost function construction module is used for constructing a cost function according to the control cost, wherein the control cost represents the running cost of the automatic driving equipment.
Optionally, the control cost includes at least one of: comfort, operating efficiency, safety.
Optionally, the control module includes:
the conversion module is used for converting the space domain speed change function into a time domain to obtain a time domain speed change function, wherein the time domain is a speed time coordinate system;
and the speed planning module is used for controlling the speed according to the time domain speed change function.
The display device for image beautifying effect provided by the embodiment shown in fig. 7 may be used to implement the technical solution of the method embodiment shown in fig. 2 of the present specification, and the implementation principle and technical effect may be further described with reference to the related description in the method embodiment.
The embodiment of the application provides a terminal device, which may include at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor that invoke the program instructions to perform the speed planning method provided by the embodiments shown in this specification.
Embodiments of the present application provide a computer-readable storage medium storing computer instructions that cause a computer to execute the speed planning method provided by the embodiments shown in the present specification.
Any combination of one or more computer readable media may be utilized as the above-described computer readable storage media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (erasable programmable read only memory, EPROM) or flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for the present specification may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (local area network, LAN) or a wide area network (wide area network, WAN), or it may be connected to an external computer (e.g., through the internet using an internet service provider).
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In the description of embodiments of the present invention, a description of reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present specification. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in the present specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present specification, the meaning of "plurality" is at least two, for example, two, three, etc., unless explicitly specified otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present specification in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present specification.
Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should be noted that, the terminals in the embodiments of the present application may include, but are not limited to, a personal computer (personal computer, PC), a personal digital assistant (personal digital assistant, PDA), a wireless handheld device, a tablet computer (tablet computer), a mobile phone, an MP3 player, an MP4 player, and the like.
In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
In addition, each functional unit in each embodiment of the present specification may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods described in the embodiments of the present specification. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a read-only memory (ROM), a random-access memory (RAM), a magnetic disk, or an optical disk, etc.
The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the scope of the disclosure, since any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.
Claims (11)
1. A speed planning method, characterized in that the method is applied to an automatic driving apparatus, the method comprising:
obtaining constraint conditions and a cost function, wherein the constraint conditions represent constraints of the automatic driving equipment in a spatial domain, the spatial domain is a position time coordinate system, and the cost function represents a control target of the automatic driving equipment in the spatial domain;
solving the cost function based on the constraint condition to obtain a space domain speed change function;
and controlling the speed according to the space domain speed change function.
2. The method according to claim 1, wherein the method further comprises:
and forming constraint conditions in the space domain according to constraint information, wherein the constraint information at least comprises path decision, speed constraint information and power information of the automatic driving equipment.
3. The method according to claim 2, wherein constructing constraints in the spatial domain based on the constraint information comprises:
and generating an upper bound and a lower bound in a space domain according to a path decision, wherein the path decision represents a planned path of the automatic driving equipment.
4. The method according to claim 2, wherein constructing constraints in the spatial domain based on the constraint information comprises:
a speed limit constraint in the spatial domain is generated from speed limit information representing a speed limit on a planned path of the autopilot device.
5. The method according to claim 2, wherein constructing constraints in the spatial domain based on the constraint information comprises:
and generating acceleration constraint in a space domain according to the power information of the automatic driving device, wherein the power information represents the maximum acceleration and the maximum deceleration of the automatic driving device.
6. The method according to claim 1, wherein the method further comprises:
a cost function is constructed as a function of a control cost, wherein the control cost represents a driving cost of the automatic driving device.
7. The method of claim 6, wherein the control cost comprises at least one of: comfort, operating efficiency, safety.
8. The method of claim 6, wherein said controlling speed as a function of said spatial domain speed variation function comprises:
converting the space domain speed change function into a time domain to obtain a time domain speed change function, wherein the time domain is a speed time coordinate system;
and controlling the speed according to the time domain speed change function.
9. An automatic driving apparatus, characterized in that the automatic driving apparatus comprises:
the system comprises an acquisition module, a control module and a cost function, wherein the acquisition module is used for acquiring constraint conditions and a cost function, wherein the constraint conditions represent the constraint of the automatic driving equipment in a spatial domain, the spatial domain is a position time coordinate system, and the cost function represents a control target of the automatic driving equipment in the spatial domain;
the calculation module is used for solving the cost function based on the constraint condition to obtain a space domain speed change function;
and the control module is used for controlling the speed according to the space domain speed change function.
10. A terminal device, comprising:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-8.
11. A computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210692425.8A CN117284316A (en) | 2022-06-17 | 2022-06-17 | Speed planning method, terminal equipment, medium and automatic driving equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210692425.8A CN117284316A (en) | 2022-06-17 | 2022-06-17 | Speed planning method, terminal equipment, medium and automatic driving equipment |
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| CN117284316A true CN117284316A (en) | 2023-12-26 |
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| CN202210692425.8A Pending CN117284316A (en) | 2022-06-17 | 2022-06-17 | Speed planning method, terminal equipment, medium and automatic driving equipment |
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| Country | Link |
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