Trapezoidal Speed Planning Method of Intelligent Vehicle Based on Intermediate Speed

Abstract

A speed planning method based on intermediate speed is proposed for intelligent vehicles to meet the need of speed planning and safe parking when facing obstacle during the process of autonomous driving.It introduces the speed of the vehicle obstacle into the planning process and takes the intermediate speed as reference quantity of speed control .By this way,the advance planning of vehicle speed is realized.Furthermore,it solves the problem of fluctuation of speed planning process when facing the dynamic obstacle.The proposed method is simulated on the CarSim/Simulink co-simulation platform,and the experimental results show that it can improve the speed stability of intelligent vehicle,and has good adaptability to the obstacle.