Vehicle speed control method and apparatus

Abstract

This invention relates to a vehicle speed control method, the method comprising: determining the drivable distance in different directions ahead of the current vehicle using onboard sensors, and obtaining the area of ​​the drivable region in front of the current vehicle based at least on the type of target in the different directions; determining a safety level result for the current driving scenario based on the drivable region area and the current vehicle speed; and controlling the speed of the current vehicle based on the safety level result. This invention also relates to a vehicle control device, a computer storage medium, and a vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically, to a vehicle speed control method and device, a computer storage medium, and a vehicle. Background Technology

[0002] In the field of driver assistance systems, making the functions more closely resemble the driving behavior of real drivers, thereby achieving "human-like" driving, is an important development direction. More "human-like" functional performance also helps drivers understand the vehicle's driver assistance functions, reducing the driver's sense of insecurity and tension when these functions are activated.

[0003] In existing vehicle adaptive cruise control systems, speed control is generally based on targets in front of the vehicle. Specifically, current adaptive cruise control functions primarily consider targets ahead of the vehicle's path, controlling the vehicle's speed while maintaining a safe distance from the vehicle in front. However, this control logic may ignore vehicles entering the encirclement zone when encountering vehicles traveling in a triangular pattern in the left, middle, and right lanes, increasing the driver's sense of insecurity and reducing their trust in the function. Furthermore, objects that can "encircle" the vehicle on the road include not only other vehicles but also fixed road structures such as medians and curbs. These targets collectively influence the driver's judgment of the safety of the current driving environment.

[0004] Therefore, an improved vehicle speed control method and device are expected. Summary of the Invention

[0005] According to one aspect of the present invention, a vehicle speed control method is provided, the method comprising: determining the drivable distance in different directions ahead of the current vehicle using on-board sensors, and obtaining the drivable area in front of the current vehicle based at least according to the target type in the different directions; determining a safety level result under the current driving scenario based on the drivable area and the current vehicle speed; and controlling the speed of the current vehicle based on the safety level result.

[0006] As a supplement or replacement to the above solution, in the above method, determining the drivable distance in different directions in front of the current vehicle using onboard sensors, and obtaining the drivable area in front of the current vehicle based at least on the target type in the different directions, includes: determining the drivable distance in different directions in front of the current vehicle using onboard sensors; correcting the drivable distance based at least on the target type in the different directions to obtain the corrected drivable distance in each direction; and calculating the drivable area in front of the current vehicle based on the corrected drivable distance in each direction.

[0007] As a supplement or replacement to the above solution, in the above method, determining the drivable distance in different directions in front of the current vehicle using onboard sensors includes: obtaining the distance θ in different directions of the current vehicle using onboard sensors. i The target distance R on i Target height H i and target type T i ; and different directions θ i The target distance R on i Converted to drivable distance D in the same plane i ,in,

[0008] As a supplement or replacement to the above solution, in the above method, the drivable distance is corrected at least according to the target type in different directions, and the corrected drivable distance in each direction includes: when the drivable distance is less than the safe drivable distance corresponding to the current vehicle speed, and the target in that direction is a fixed road structure or the target in that direction is another vehicle with a speed much greater than the current vehicle speed, the drivable distance D is adjusted. i Revised to D' i , where D′ i = (1-k)·D i +k·d thres k is the correction ratio, d thres This is the safe driving distance corresponding to the current vehicle speed.

[0009] As a supplement or replacement to the above scheme, in the above method, the drivable distance is corrected at least according to the target type in different directions, and the corrected drivable distance in each direction includes: correcting the vehicle's drivable distance according to the safe driving area, wherein the correction takes into account the driver's psychological feelings and the relative distance of vehicles changing lanes.

[0010] As a supplement or replacement to the above scheme, in the above method, calculating the area of ​​the drivable region in front of the current vehicle based on the corrected drivable distances in each direction includes: calculating the area A of the drivable region in front of the current vehicle according to the following formula:

[0011] Where N represents the number of measurable directions, Δθ i Indicates direction θ i With θ i-1 The angle difference between them.

[0012] As a supplement or replacement to the above solution, in the above method, determining the safety level result of the current driving scenario based on the drivable area and the current vehicle speed includes: comparing the drivable area with the drivable area threshold for different safety levels corresponding to the current vehicle speed to determine the safety level result of the current driving scenario.

[0013] As a supplement or replacement to the above scheme, in the above method, controlling the current vehicle speed based on the safety level result includes: outputting a recommended speed for the vehicle's current travel based on the safety level result and the current vehicle speed.

[0014] As a supplement or alternative to the above scheme, in the above method, when the safety level result indicates that driving safety has decreased, a recommended speed lower than the current vehicle speed is output.

[0015] According to another aspect of the present invention, a vehicle speed control device is provided, the device comprising: a first determining device for determining drivable distances in different directions ahead of a current vehicle using onboard sensors, and obtaining drivable area areas in front of the current vehicle at least according to target types in the different directions; a second determining device for determining a safety level result under a current driving scenario based on the drivable area area and the current vehicle speed; and a control device for controlling the speed of the current vehicle based on the safety level result.

[0016] As a supplement or replacement to the above solution, in the above device, the first determining device includes: a determining unit, used to determine the drivable distance in different directions in front of the current vehicle through vehicle-mounted sensors; a correcting unit, used to correct the drivable distance at least according to the target type in different directions, to obtain the corrected drivable distance in each direction; and a calculating unit, used to calculate the drivable area in front of the current vehicle based on the corrected drivable distance in each direction.

[0017] As a supplement or replacement to the above solution, in the above device, the determining unit is configured to: acquire the current vehicle's different directions θ using onboard sensors. i The target distance R on i Target height H i and target type T i ; and different directions θ i The target distance R on i Converted to drivable distance D in the same plane i ,in,

[0018] As a supplement or replacement to the above solution, in the above device, the correction unit is configured to: when the drivable distance is less than the safe drivable distance corresponding to the current vehicle speed, and the target in that direction is a fixed road structure or the target in that direction is another vehicle with a speed much greater than the current vehicle speed, adjust the drivable distance D... i Revised to D' i , where D′ i = (1-k)·D i +k·d thres k is the correction ratio, d thres This is the safe driving distance corresponding to the current vehicle speed.

[0019] As a supplement or replacement to the above solution, in the above device, the correction unit is configured to correct the vehicle's drivable distance based on the safe driving area, wherein the correction takes into account the driver's psychological feelings and the relative distance of vehicles changing lanes.

[0020] As a supplement or replacement to the above solution, in the above device, the calculation unit is configured to calculate the drivable area A in front of the current vehicle according to the following formula: Where N represents the number of measurable directions, Δθ i Indicates direction θ i With θ i-1 The angle difference between them.

[0021] As a supplement or replacement to the above solution, in the above device, the second determining device is configured to: compare the drivable area with the drivable area thresholds under different safety levels corresponding to the current vehicle speed, and determine the safety level result under the current driving scenario.

[0022] As a supplement or replacement to the above solution, in the above equipment, the control device is configured to output a recommended speed for the vehicle's current travel based on the safety level result and the current vehicle speed.

[0023] As a supplement or alternative to the above solution, in the above device, the control device is configured to output a recommended speed lower than the current vehicle speed when the safety level result indicates that driving safety has decreased.

[0024] According to another aspect of the present invention, a computer storage medium is provided, the medium including instructions that, when executed, perform the method described above.

[0025] According to another aspect of the invention, a vehicle is provided, the vehicle including the equipment as described above.

[0026] The vehicle speed control scheme of the present invention determines the area of ​​the drivable area in front of the vehicle, evaluates the safety level of the current vehicle driving environment, and recommends and controls the vehicle speed based on the evaluation results. By adjusting the recommended speed in advance, the vehicle can avoid entering or actively leave the narrow driving area, thereby improving the driver's sense of driving safety and optimizing the problem of vehicles entering narrow driving areas in multi-vehicle scenarios. Attached Figure Description

[0027] The above and other objects and advantages of the present invention will become more fully clear from the following detailed description taken in conjunction with the accompanying drawings, wherein the same or similar elements are indicated by the same reference numerals.

[0028] Figure 1 A flowchart illustrating a vehicle speed control method according to an embodiment of the present invention is shown;

[0029] Figure 2 A schematic diagram of a vehicle speed control device according to an embodiment of the present invention is shown;

[0030] Figure 3 A flowchart illustrating the implementation of assessing driving scenario safety by the area of ​​the drivable area of ​​a vehicle according to an embodiment of the present invention is shown.

[0031] Figure 4 A schematic diagram of a vehicle-drivable area is shown according to an embodiment of the present invention;

[0032] Figure 5 A schematic diagram illustrating a method for discretizing and approximating the area of ​​a drivable region according to an embodiment of the present invention is shown; and

[0033] Figure 6 A schematic diagram illustrating the correction of the drivable distance in each direction according to an embodiment of the present invention is shown. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it.

[0035] It should also be noted that, for ease of description, the accompanying drawings show only the parts relevant to the invention and not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. The process may correspond to a method, function, procedure, subroutine, subprogram, etc.

[0036] Although exemplary embodiments are described as using multiple units to perform exemplary processes, it should be understood that these exemplary processes may also be performed by one or more modules.

[0037] Furthermore, the control logic of the present invention can be included as executable program instructions on a computer-readable medium, which are implemented by a processor or the like. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical discs, magnetic tapes, floppy disks, flash drives, smart cards, and optical data storage devices. The computer-readable recording medium can also be distributed across a networked computer system, enabling distributed storage and implementation of the computer-readable medium, for example, via in-vehicle telecommunications services or a Controller Area Network (CAN).

[0038] It should be understood that the term "vehicle" or other similar terms used herein include motor vehicles in general, such as passenger cars (including SUVs, buses, trucks, etc.), various commercial vehicles, etc., and includes hybrid vehicles, electric vehicles, etc. A hybrid vehicle is a vehicle with two or more power sources, such as a gasoline-powered and an electric vehicle.

[0039] In the following, vehicle speed control schemes according to various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0040] Figure 1 A schematic flowchart of a vehicle speed control method 1000 according to an embodiment of the present invention is shown. Figure 1 As shown, the vehicle speed control method 1000 includes the following steps:

[0041] In step S110, the drivable distance in different directions in front of the current vehicle is determined by the vehicle-mounted sensors, and the drivable area in front of the current vehicle is obtained at least according to the target type in the different directions.

[0042] In step S120, based on the drivable area and the current vehicle speed, the safety level of the current driving scenario is determined; and

[0043] In step S130, the current vehicle speed is controlled based on the safety level result.

[0044] The term "vehicle sensor," also known as automotive sensor or vehicle-mounted sensor, is an important component of intelligent driving and is key to a vehicle's ability to perceive its external environment. In one embodiment, an vehicle sensor can be a camera, millimeter-wave radar, or lidar.

[0045] The term "drivable distance" refers to the distance between the vehicle and the vehicle in front or an obstacle in a certain direction in front of the vehicle. "Drivable area" refers to the area of ​​the free space in the direction the vehicle is traveling. (Refer to this application.) Figure 4 It shows a schematic diagram of a vehicle-drivable area according to an embodiment of the present invention. Figure 4 As shown, this vehicle is indicated by 410, and other vehicles 420, 430, and 440 are traveling in front of this vehicle 410. Vehicle 420 is traveling in the left lane of this vehicle 410, vehicle 430 is traveling in the same lane as this vehicle 410, and vehicle 440 is traveling in the right lane of this vehicle 410. Figure 4 In the diagram, the drivable area (hereinafter referred to as "drivable area") within the sensor's detection range is shown as 450. The area enclosed by region 450 (i.e., the area of ​​the gray area marked by 450) is the drivable area.

[0046] "Target type" refers to the type of target object in front of the vehicle (sensor). For example, the target object may be other vehicles, or it may be a fixed road structure such as a median strip or curb. Therefore, depending on the type of target object in different directions, the area of ​​the drivable area in front of the current vehicle can be obtained in different ways in one or more embodiments of the present invention.

[0047] The term "safety level result in the current driving scenario" refers to the assessment result of the driver's perception of the safety level of the current driving environment. Based on this assessment result, the vehicle's speed can be recommended and controlled. This avoids reducing the driver's confidence in the functions when the vehicle enters a confined driving space.

[0048] The vehicle speed control method 1000 provides a method to assess the safety level of the current driving environment in the driver's mind by calculating the area of ​​the drivable area in front of the vehicle, and to give the current recommended driving speed of the vehicle based on the assessment, thereby avoiding the increase in the driver's psychological burden caused by the vehicle entering a narrow driving space in some scenarios.

[0049] In one embodiment, step S110 includes: determining the drivable distance in different directions in front of the current vehicle using onboard sensors; correcting the drivable distance based at least on the target type in different directions to obtain the corrected drivable distance in each direction; and calculating the drivable area in front of the current vehicle based on the corrected drivable distance in each direction.

[0050] Specifically, determining the drivable distance in different directions ahead of the vehicle using onboard sensors can include: obtaining the distance θ in different directions of the vehicle using onboard sensors (such as cameras, millimeter-wave radar, or lidar). i The target distance R on i Target height H i and target type T i ; and using trigonometric formulas to represent different directions θ i The target distance R on i Converted to the drivable distance D of vehicles in the same plane i ,in,

[0051] In one embodiment, the drivable distance is corrected at least according to the target type in different directions to obtain the corrected drivable distance in each direction. This includes: when the drivable distance is less than the safe drivable distance corresponding to the current vehicle speed, and the target in that direction is a fixed road structure such as a median strip or curb rather than other vehicles, the drivable distance can be corrected to the safe drivable distance by a certain proportion because the road structure generates far less psychological insecurity for the driver than vehicles. The correction proportion k is an empirical value. The corrected drivable distance D′ is... i = (1-k)·D i +k·d thres k is the correction ratio, d thres This is the safe driving distance corresponding to the current vehicle speed.

[0052] In another embodiment, the drivable distance is corrected at least according to the target type in different directions, resulting in corrected drivable distances in each direction. This includes correcting the drivable distance when it is less than the safe drivable distance corresponding to the current speed, and when the target in that direction is another vehicle with a speed significantly greater than the vehicle's current speed. Since it is assumed that the target vehicle is about to move away from the vehicle and the scene is about to return to a safe range, the drivable distance can be corrected to the safe drivable distance by a certain proportion, where the correction proportion k is an empirical value. The corrected drivable distance D′ is... i = (1-k)·D i +k·d thres k is the correction ratio, d thres This is the safe driving distance corresponding to the current vehicle speed.

[0053] In one embodiment, calculating the drivable area in front of the current vehicle based on the corrected drivable distances in each direction includes: calculating the drivable area A in front of the current vehicle according to the following formula: Where N represents the number of measurable directions, Δθ i Indicates direction θ i With θ i-1 The angular difference between them. Specifically, if a certain direction θ i When the confidence level of the drivable distance measurement is low or unavailable, other directions (e.g., adjacent directions θ) can be used instead. i-1 With θ i+1 The area of ​​the triangle is approximated by the corrected driving distance result, and Δθ is then used. i The corresponding change should be the angle difference in the corresponding direction.

[0054] In one embodiment, step S120 includes: comparing the drivable area with the drivable area threshold A under different safety levels corresponding to the current vehicle speed. thres The results are compared to determine the level of safety in the current driving scenario.

[0055] In one embodiment, the "threshold A of drivable area under different safety levels" can be obtained as follows: thres "and "safe driving distance d thres ":

[0056] First, statistically analyze the distribution of the drivable area in front of the vehicle (Area(v)) during driving at different vehicle speeds (v) for human drivers; then, for a specific speed range [v... min v max The top K% of the drivable area distribution within this speed range is defined as the drivable area under different safety levels, thus obtaining the drivable area threshold A under different safety levels within this speed range. thres Finally, using the sector area assumption, the safe driving area threshold A is determined. thres Converted to safe driving distance d thres :

[0057]

[0058] Where θ is the maximum measurable angle range of the drivable area.

[0059] In one embodiment, step S130 includes: based on the safety level result and the current vehicle speed, outputting a recommended speed for the vehicle's current travel. When driving safety is reduced due to a small drivable area, a recommended speed lower than the vehicle's current speed is output based on the safety level. This recommended speed, in conjunction with the vehicle controller, enables the vehicle to decelerate in advance before entering a confined area.

[0060] Furthermore, those skilled in the art will readily understand that the vehicle speed control method provided in one or more embodiments of the present invention can be implemented by a computer program. For example, when a computer storage medium (e.g., a USB flash drive) containing the computer program is connected to a computer, running the computer program will execute the vehicle speed control method of one or more embodiments of the present invention.

[0061] refer to Figure 2 , Figure 2 A schematic diagram of a vehicle speed control device 2000 according to an embodiment of the present invention is shown. Figure 2 As shown, the vehicle speed control device 2000 includes: a first determining device 210, a second determining device 220, and a control device 230. The first determining device 210 is used to determine the drivable distance in different directions ahead of the vehicle using onboard sensors, and to obtain the drivable area in front of the vehicle, at least based on the target type in the different directions. The second determining device 220 is used to determine the safety level result under the current driving scenario based on the drivable area and the current vehicle speed. The control device 230 is used to control the current vehicle speed based on the safety level result.

[0062] The term "vehicle sensor," also known as automotive sensor or vehicle-mounted sensor, is an important component of intelligent driving and is key to a vehicle's ability to perceive its external environment. In one embodiment, an vehicle sensor can be a camera, millimeter-wave radar, or lidar.

[0063] The term "drivable distance" refers to the distance between the vehicle and the vehicle in front or an obstacle in a certain direction in front of the vehicle. "Drivable area" refers to the area of ​​the free space in the vehicle's direction of travel. "Target type" refers to the type of target object in front of the vehicle (sensor). For example, the target object may be other vehicles or fixed road structures such as medians or curbs. Therefore, depending on the type of target object in different directions, the drivable area in front of the current vehicle can be obtained in different ways in one or more embodiments of the present invention.

[0064] The term "safety level result in the current driving scenario" refers to the assessment result of the driver's perception of the safety level of the current driving environment. Based on this assessment result, the vehicle's speed can be recommended and controlled. This avoids reducing the driver's confidence in the functions when the vehicle enters a confined driving space.

[0065] In one embodiment, although Figure 2 As not shown in the diagram, the first determining device 210 includes: a determining unit for determining the drivable distance in different directions in front of the current vehicle using on-board sensors; a correcting unit for correcting the drivable distance based at least on the target type in different directions to obtain the corrected drivable distance in each direction; and a calculating unit for calculating the drivable area in front of the current vehicle based on the corrected drivable distance in each direction.

[0066] In one embodiment, the determining unit is configured to: acquire the current vehicle's different orientations θ using onboard sensors. i The target distance R on i Target height H i and target type T i ; and different directions θ i The target distance R on i Converted to drivable distance D in the same plane i ,in,

[0067] In one embodiment, the correction unit is configured to: when the drivable distance is less than the safe drivable distance corresponding to the current vehicle speed, and the target in that direction is a fixed road structure or the target in that direction is another vehicle with a speed much greater than the current vehicle's current speed, adjust the drivable distance D... i Revised to D' i , where D′ i = (1-k)·D i +k·d thres k is the correction ratio, d thres This is the safe driving distance corresponding to the current vehicle speed.

[0068] In one embodiment, the above-mentioned calculation unit is configured to calculate the drivable area A in front of the current vehicle according to the following formula: Where N represents the number of measurable directions, Δθ i Indicates direction θ i With θ i-1 The angle difference between them.

[0069] Figure 5This paper describes a method for calculating the area of ​​the drivable region by discretizing the entire drivable region using the drivable distance in each direction, and then approximating the area of ​​each sector using the area of ​​a triangle. The straight lines extending from the current vehicle represent the drivable distances measured by the onboard sensors in each direction, while the distant arcs represent the sensor's maximum measurement distance in open environments. Figure 6 This describes the corrections for drivable distances in each direction. Here, Mi represents the direct measurement of the drivable distance in that direction, and S... i F represents the safe distance at the current vehicle speed. i This indicates the proportionally adjusted drivable distance. In one or more embodiments of the invention, the drivable distance of the vehicle can be adjusted based on the safe driving area, wherein the adjustment takes into account the driver's psychological perception and the relative distance of vehicles changing lanes.

[0070] In one embodiment, the second determining device 220 is configured to compare the drivable area with the drivable area thresholds for different safety levels corresponding to the current vehicle speed, and determine the safety level result under the current driving scenario.

[0071] For example, the safe driving area threshold and safe driving distance at different vehicle speeds can be calculated as follows: First, statistically analyze the distribution of the drivable area in front of the vehicle (Area(v)) during driving at different vehicle speeds (v); then, for a specific speed range [v... min v max The top K% of the drivable area distribution within this speed range is defined as the drivable area under different safety levels, thus obtaining the drivable area threshold A under different safety levels within this speed range. thres Finally, using the sector area assumption, the safe driving area threshold A is determined. thres Converted to safe driving distance d thres :

[0072]

[0073] Where θ is the maximum measurable angle range of the drivable area.

[0074] In one embodiment, the control device 230 is configured to output a recommended speed for the vehicle's current travel based on the safety level result and the current vehicle speed. For example, the control device is configured to output a recommended speed lower than the current vehicle speed when the safety level result indicates a decrease in driving safety.

[0075] Figure 3 A flowchart 3000 illustrates an implementation of assessing driving scenario safety through the area of ​​the vehicle's drivable region according to an embodiment of the present invention. Figure 3As shown, flowchart 3000 can be divided into two main parts: offline statistics and online calculation. In the offline statistics flowchart, firstly, the distribution of the drivable area for human drivers at different speeds is statistically analyzed (step 310); then, the area distribution is divided proportionally (e.g., selecting the top K%) as thresholds to distinguish different safety levels (step 320); finally, using the sector area assumption, the area threshold is converted into a unidirectional safety threshold (step 330). In the online calculation flowchart, firstly, the target distance, height, and target type in different directions are measured (step 340); then, the target distances in different directions are converted to the same plane as the drivable distance in that direction (step 345); then, the drivable distance is corrected by referring to the target type and target speed in each direction (step 350). It should be noted that the unidirectional safe (driving) distance obtained in step 330 can be used to correct the drivable distance in step 350, for example, the drivable distance D... i Revised to D' i , where D′ i = (1-k)·D i +k·d thres k is the correction ratio (empirical value), d thres The online calculation also includes: using the corrected drivable distance, calculating the area between two adjacent directions using the triangle formula (step 360), and then summing the areas of all triangles to obtain the current drivable area (step 365). It should be noted that the drivable area obtained in step 365 can be further stored or provided to relevant devices to further update the historical statistical values ​​in step 310. In step 370, following step 365, the measured value is compared with the safe area threshold at the corresponding vehicle speed (the "driving area at different safety levels" at the corresponding vehicle speed has been obtained in step 320). Finally, in step 380, the recommended speed is given based on the safety level, achieving the purpose of controlling the vehicle to decelerate in advance.

[0076] In summary, the vehicle speed control scheme of the embodiments of the present invention determines the area of ​​the drivable area in front of the vehicle, evaluates the safety level of the current vehicle driving environment, and recommends and controls the vehicle speed based on the evaluation results. By adjusting the recommended speed in advance, the vehicle can avoid entering or actively leave the narrow driving area, thereby improving the driver's sense of driving safety and optimizing the problem of vehicles entering narrow driving areas in multi-vehicle scenarios.

[0077] Although the foregoing specification describes only some embodiments of the invention, those skilled in the art will understand that the invention can be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments shown are to be considered illustrative rather than restrictive, and the invention may encompass various modifications and substitutions without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A vehicle speed control method, characterized in that, The method includes: The vehicle's onboard sensors determine targets and drivable distances in different directions ahead of the vehicle, where the target is the closest obstacle in each direction, and the drivable distance is the distance from the vehicle to the target. The drivable distances are then corrected based on the target type in each direction, resulting in corrected drivable distances for each direction. Correcting the drivable distance includes: in response to a drivable distance in a certain direction being less than the safe drivable distance corresponding to the current vehicle speed, and the target type in that direction being a fixed road structure or another vehicle with a speed significantly greater than the current vehicle speed, reducing the drivable distance D in that direction... i Revised to ,in, k is the correction ratio, d thres The safe driving distance corresponding to the current vehicle speed is determined; and based on the corrected driving distances in each direction, the area of ​​the drivable area in front of the current vehicle is obtained. Based on the drivable area and the current vehicle speed, the safety level in the current driving scenario is determined; and The vehicle speed is controlled based on the safety level results.

2. The method of claim 1, wherein, Determining the drivable distance in different directions ahead of the current vehicle using onboard sensors includes: The vehicle's onboard sensors are used to obtain information about the current vehicle's different directions. The target distance R on i Target height H i and target type T i ;as well as different directions The target distance R on i Converted to drivable distance D in the same plane i ,in, .

3. The method as described in claim 1, wherein, Based on the corrected drivable distances in each direction, the area of ​​the drivable region in front of the current vehicle is calculated as follows: The drivable area A in front of the current vehicle is calculated using the following formula: ， Where N represents the number of measurable directions. Indicates direction and The angle difference between them.

4. The method of claim 1, wherein, Based on the drivable area and the current vehicle speed, the safety level in the current driving scenario is determined as follows: The drivable area is compared with the drivable area thresholds for different safety levels corresponding to the current vehicle speed to determine the safety level of the current driving scenario.

5. The method of claim 1, wherein, Controlling the current vehicle speed based on the safety level results includes: Based on the safety level results and the current vehicle speed, the recommended speed for the vehicle's current travel is output.

6. The method of claim 5, wherein, When the safety level result indicates a decrease in driving safety, a recommended speed lower than the current vehicle speed is output.

7. A vehicle speed control device, characterized in that, The device includes: A first determining device, comprising: a determining unit, configured to determine targets and drivable distances in different directions ahead of the current vehicle using onboard sensors, wherein the target is the closest obstacle in the different directions ahead of the current vehicle, and the drivable distance is the distance from the current vehicle to the target; and a correcting unit, configured to correct the drivable distances at least according to the target types in different directions, to obtain corrected drivable distances in each direction, wherein correcting the drivable distances includes: in response to a drivable distance in a certain direction being less than a safe drivable distance corresponding to the current vehicle speed, and the target type in that direction being a fixed road structure or another vehicle with a speed much greater than the current vehicle speed, adjusting the drivable distance D in that direction. i Revised to ,in, k is the correction ratio, d thres A safe driving distance corresponding to the current vehicle speed; and a calculation unit for calculating the area of ​​the drivable region in front of the current vehicle based on the corrected drivable distances in each direction; The second determining device is used to determine the safety level result of the current driving scenario based on the area of ​​the drivable area and the current vehicle speed; and A control device for controlling the current vehicle speed based on the safety level result.

8. The device as claimed in claim 7, wherein, The determining unit is configured to: The vehicle's different directions are obtained through onboard sensors. The target distance R on i Target height H i and target type T i ;as well as different directions The target distance R on i Converted to drivable distance D in the same plane i ,in, .

9. The device as claimed in claim 7, wherein, The computing unit is configured as follows: The drivable area A in front of the current vehicle is calculated using the following formula: ， Where N represents the number of measurable directions. Indicates direction and The angle difference between them.

10. The device as claimed in claim 7, wherein, The second determining device is configured to: The drivable area is compared with the drivable area thresholds for different safety levels corresponding to the current vehicle speed to determine the safety level of the current driving scenario.

11. The device as claimed in claim 7, wherein, The control device is configured to output a recommended speed for the vehicle's current travel based on the safety level result and the current vehicle speed.

12. The device as claimed in claim 11, wherein, The control device is configured to output a recommended speed lower than the current vehicle speed when the safety level result indicates a decrease in driving safety.

13. A computer storage medium, characterized in that, The medium includes instructions that, when executed, perform the method as described in any one of claims 1 to 6.

14. A vehicle comprising the equipment claimed in any one of claims 7 to 12.

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