Method and apparatus for planning speed of autonomous vehicle, and storage medium

An apparatus for planning a speed of an autonomous vehicle, comprising:

• one or more processors;
• a storage device configured to store one or more programs;
• wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:
• generate a plurality of speed trajectories to be selected for the autonomous vehicle before the autonomous vehicle changes a lane, wherein the speed trajectory to be selected comprises the speeds to be selected at a plurality of time points within a preset time range;
• obtain predicted speeds and predicted positions of an obstacle at the plurality of time points;
• calculate a cost function value of each of the speed trajectories to be selected, according to the plurality of speed trajectories to be selected, the predicted speeds, and the predicted positions;
• and
• select a speed trajectory to be selected with a minimum cost function value, as a planning speed trajectory of the autonomous vehicle.

A non-volatile computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform operations comprising:

• generating a plurality of speed trajectories to be selected for the autonomous vehicle before the autonomous vehicle changes a lane, wherein the speed trajectory to be selected comprises the speeds to be selected at a plurality of time points within a preset time range;
• obtaining predicted speeds and predicted positions of an obstacle at the plurality of time points;
• calculating a cost function value of each of the speed trajectories to be selected, according to the plurality of speed trajectories to be selected, the predicted speeds, and the predicted positions;
• and
• selecting a speed trajectory to be selected with a minimum cost function value, as a planning speed trajectory of the autonomous vehicle.