Intelligent automobile obstacle avoidance speed selection method and device

The invention provides an intelligent vehicle obstacle avoidance speed selection method and device, and relates to the field of unmanned vehicle speed planning, and the method comprises the steps: determining a preset vehicle speed according to a current mode and a vehicle type; determining a preset grid unit length according to the preset vehicle speed and the target duration; determining a target obstacle according to the current position and the current to-be-passed position so as to construct a current grid line graph; for each speed decision, determining a current target speed corresponding to the speed decision, and executing the speed decision according to the current target speed; determining a next grid line graph according to the current to-be-passed position and the next to-be-passed position so as to complete all speed decisions; and traversing all the to-be-passed positions until the speed planning of all the to-be-passed positions is completed. Real-time speed planning is carried out under the c