Speed planning method and device in automatic driving scene, equipment and storage medium

The invention provides a speed planning method and device in an automatic driving scene, equipment and a storage medium. The method comprises the following steps: acquiring latest obstacle information; target obstacle information is determined based on the latest obstacle information; carrying out expansion processing on the latest obstacle information based on the target obstacle information to obtain expanded obstacle information; and performing speed planning on the automatic driving vehicle based on the expanded obstacle information to obtain a speed planning result. According to the method provided by the invention, the application scene of speed planning in an automatic driving scene is widened, the accuracy of speed planning is improved, and the safety of an automatic driving vehicle is further improved. 本申请提供一种自动驾驶场景下的速度规划方法、装置、设备及存储介质。该方法包括：获取最新的障碍物信息；基于最新的障碍物信息，确定出目标障碍物信息；基于目标障碍物信息对最新的障碍物信息进行扩充处理，得到扩充后的障碍物信息；基于扩充后的障碍物信息对自动驾驶的车辆进行速度规划，得到速度规划结果。本申请的方法，拓宽了自动驾驶场景下的速度规划的应用场景，提高了速度规划的准确度，进而提高了自动驾驶的车辆的安全性。