Speed rule for S-type stop curve in non-zero initial state and its online solution method

摘要

The present invention provides a speed rule for an S-type stop curve in a non-zero initial state and an online solution method thereof, and establishes an S-type stop trajectory model, and the S-type stop established in step S1. The trajectory parameters of the S-type stop trajectory model in step S1 are set by setting the feasible conditions for the trajectory to exist for the trajectory model and setting the trajectory executable conditions in step S2. And generating an acceleration trajectory, velocity and position trajectory according to the trajectory parameters obtained in step S3. The present invention replaces the problem of finding a speed plan with the problem of finding a single term nonlinear equation, and reduces the difficulty in obtaining it.