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Speed planning method and system

A speed planning and speed technology, applied in the control/regulation system, vehicle position/route/height control, non-electric variable control and other directions, can solve the problem that different speed limits cannot be considered, achieve smooth curve, reliable calculation results, smooth ride effect

Pending Publication Date: 2021-12-03
北京超星未来科技有限公司
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  • Abstract
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Problems solved by technology

[0004] In view of this, the embodiments of the present application provide a speed planning method and system, which at least partly solves the problem in the prior art that different locations or sections on the route have different speed limits that cannot be considered when performing speed planning. question

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Embodiment Construction

[0037] Embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0038] Embodiments of the present application are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. The present application can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all...

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Abstract

The invention provides a speed planning method and system, and belongs to the technical field of motion planning. The method specifically comprises the steps: obtaining path information; dividing path segments, dividing the path into a plurality of path segments, and obtaining the relationship between the accumulated length of each path segment and the maximum speed of each path segment; initializing a scaling ratio; carrying out first speed planning and optimizing the relation between the accumulated length of each path segment and the maximum speed of each path segment; carrying out second speed planning, and optimizing the result of the first speed planning by using an optimization algorithm and the maximum acceleration and the maximum jerk of the motion subject to obtain the second speed planning; and if the second speed planning fails, changing the scaling, and repeating calculation of the first speed planning and the second speed planning. Through the processing scheme provided by the invention, good speed planning can still be carried out under the condition that different positions or sections on the path have different speed limitations.

Description

technical field [0001] The present application relates to the technical field of motion planning, in particular to a speed planning method and system. Background technique [0002] Motion planning is an essential function for intelligent agents such as mobile robots, autonomous vehicles or drones. Motion planning usually includes path planning and velocity planning. The main task of path planning is to find one or more sequential points or curves that meet the constraint conditions (such as kinematic constraints) connecting the starting position and the target position. The main task of speed planning is to plan one or more time-dependent trajectory sequences satisfying constraints (such as dynamic constraints) based on known path information. Existing speed planning methods can be divided into two types: (1) speed planning method for the entire path; (2) dynamic programming method based on sampling. [0003] The speed planning method for the entire path includes simply a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 张洪冬熊祺张剑
Owner 北京超星未来科技有限公司
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