Time optimal speed planning method and system based on constraint classification

US11709467B2 · kind B2 · utility

Assignee

• GUANGDONG UNIVERSITY OF TECHNOLOGY · CN

Inventors

• Jian Gao · Singapore, SG
• Guixin ZHANG · 流花街道, CN
• Lanyu Zhang · 流花街道, CN
• Haixiang DENG · 流花街道, CN
• Yun Chen · Tangxia, CN
• Yunbo He · 流花街道, CN
• Xin Chen · Tangxia, CN

Key dates

• Filing date: Nov 22, 2022
• Grant date: Jul 25, 2023
• Expiry date: Nov 22, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G06F17/16
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A time optimal speed planning method and system based on constraint classification. The method comprises: reading path information and carrying out curve fitting to obtain a path curve; sampling the path curve, and considering static constraint to obtain a static upper bound value of a speed curve; considering dynamic constraint, and combining the static upper bound value of the speed curve to construct a time optimal speed model; carrying out convex transformation on the time optimal speed model to obtain a convex model; and solving the convex model based on a quadratic sequence planning method to obtain a final speed curve. The system comprises: a path curve module, a static constraint module, a dynamic constraint module, a model transformation module and a solving module.