自动驾驶速度决策方法综述

Review of Autonomous Driving Speed Planning

摘要:

自动驾驶技术是交通和汽车领域未来发展的重要方向，速度决策是其中的关键一环，直接影响驾驶安全和效率。随着自动驾驶车辆的测试和试运营，速度决策被赋予了新的期望，不仅要完全融入混合交通环境，还要满足驾乘人员个性化需求和舒适性要求。为此，评述了全局速度决策的研究现状和关键问题，分析了局部速度决策方法，总结了速度决策模拟评估方法。最后，展望了速度决策的未来发展方向。应充分提高协调异质交通参与者的能力，重视法律规范和社会规范的平衡，在方法上实现知识驱动和数据驱动的融合，加强全局和局部速度的协同，并在更大尺度上模拟评估算法。

Abstract:

Autonomous driving technology is a pivotal focus for the future development of the transportation and automotive sectors， with the speed decision serving as a critical component that directly impacts the driving safety and efficiency. As autonomous vehicles undergo testing and trial operations， new expectations for speed decision have emerged. Driving speed planning process should not only integrate seamlessly into mixed traffic environments， but also meet personalized needs and comfort requirements of drivers. In this paper， the current research landscape and key issues related to global speed decision are reviewed. Methodologies of local speed decision are analyzed， and the simulation evaluation methods employed in this field are summarized. Finally， future development plan for speed decision is mapped out，emphasizing the importance of improving the ability to coordinate heterogeneous traffic participants， balancing legal and social norms， integrating knowledge-driven and data-driven approaches， enhancing the unification of global and local speed， and evaluating algorithms on a larger scale.