An anti-congestion intelligent vehicle speed control method and system

Abstract

The present invention relates to an intelligent vehicle speed control method and system for preventing congestion. The vehicle speed control method includes: when the vehicle is traveling at a constant speed on the road, and the constant speed is greater than the set value and less than the road speed limit, obtaining the traffic congestion level of the current road; judging whether the vehicle itself needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set time period, and whether the acceleration condition is satisfied; the overtaking times refer to the number of times that the vehicle behind the vehicle itself in the same lane changes lanes to the adjacent lane to overtake the vehicle itself; after determining that the vehicle itself needs to accelerate, calculating the vehicle speed value after acceleration according to the preset rule, and accelerating the vehicle itself to the vehicle speed value after acceleration; if it is monitored that the vehicle behind frequently changes lanes to overtake the vehicle itself, the current road of the vehicle itself is not congested, and the acceleration condition is satisfied in front of the vehicle itself, the set vehicle speed will be increased, which can effectively reduce the traffic congestion caused by the low-speed driving of the vehicle itself and reduce the traffic accidents caused by congestion.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving, and particularly to an intelligent vehicle speed control method and system for preventing traffic jams. Background Art

[0002] With the improvement of people's living standards, vehicles have become increasingly common in people's lives. To ensure driving safety and comply with road traffic regulations, it is usually necessary to control the vehicle speed during vehicle driving. For example, in a speed-limited section, the vehicle speed usually needs to be controlled according to the speed limit specified by road traffic regulations. In the prior art, the vehicle speed is usually manually controlled by the driver. Specifically, the driver controls the vehicle speed by controlling the accelerator pedal or the brake pedal of the vehicle. For example, when the speed-limited section is a minimum speed-limited section (the vehicle must travel at a speed greater than the minimum speed limit), the driver can step on the accelerator pedal of the vehicle to increase the throttle opening of the vehicle to control the vehicle speed, so that the vehicle travels at a speed greater than the minimum speed limit; when the speed-limited section is a maximum speed-limited section (the vehicle must travel at a speed less than the maximum speed limit), the driver can release the accelerator pedal of the vehicle to reduce the throttle opening of the vehicle to control the vehicle speed, or the driver can also step on the brake pedal of the vehicle to reduce the engine speed of the vehicle to control the vehicle speed, so that the vehicle travels at a speed less than the maximum speed limit. With the trend that autonomous vehicles are approaching practical application, how to accurately and effectively control the driving speed of autonomous vehicles has become a common concern.

[0003] The intelligent driving vehicle travels at the vehicle speed set by the driver. If it travels at a low speed for a long time on the highway, the vehicles behind will frequently overtake the self-vehicle, which may cause traffic jams and traffic accidents. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the present invention provides an intelligent vehicle speed control method and system for preventing traffic jams, and solves the problem that long-term low-speed driving of intelligent driving vehicles on the highway may cause traffic jams and traffic accidents.

[0005] According to a first aspect of the present invention, there is provided an intelligent vehicle speed control method for preventing traffic jams, including: Step 1, when the self-vehicle travels on the road at a constant speed, and the constant speed is greater than the set value and less than the road speed limit, obtain the traffic congestion level of the current road;

[0006] Step 2, determine whether the self-vehicle needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set time period, and whether the acceleration condition is satisfied; the overtaking times refer to the number of times that the vehicles behind the self-vehicle in the same lane change lanes to the adjacent lane to overtake the self-vehicle;

[0007] Step 3, after determining that the host vehicle needs to accelerate, calculate the post-acceleration vehicle speed value according to a preset rule, and accelerate the host vehicle to the post-acceleration vehicle speed value.

[0008] Based on the above technical solution, the present invention can also be improved as follows.

[0009] Optionally, the traffic congestion level of the current road includes the current traffic congestion level and the predicted traffic congestion level, the traffic congestion level is obtained through a map, and the traffic congestion level includes: severe congestion, congestion, slow traffic, and smooth traffic;

[0010] The set number of times in step 2 is set according to the current traffic congestion level and the predicted traffic congestion level.

[0011] Optionally, step 2 includes:

[0012] When the traffic congestion level of the current road is slow traffic or smooth traffic, if it is determined that the number of overtaking times exceeds the set number of times within a set time period and the host vehicle meets the acceleration condition, it is determined that the host vehicle needs to accelerate.

[0013] Optionally, step 2 further includes: only when the set speed at which the host vehicle is traveling is less than the maximum speed limit value set according to the type of the driving road, the determination of whether the number of overtaking times exceeds the set number of times is made.

[0014] Optionally, the method for determining that a vehicle behind the host vehicle in the same lane changes to an adjacent lane to overtake the host vehicle in step 2 includes:

[0015] Monitor the trajectory of the vehicle behind the host vehicle in the same lane through an angular radar or side-view and rear-view cameras, and determine whether the vehicle behind changes from the host vehicle's lane to an adjacent lane and overtakes the host vehicle from the adjacent lane.

[0016] Optionally, the meeting of the acceleration condition includes:

[0017] There is no vehicle within the time headway in front of the host vehicle or there is a vehicle with a speed higher than that of the host vehicle within the time headway; the time headway is the host vehicle speed multiplied by a set time period; the radius of curvature of the lane line of the lane where the host vehicle is located needs to be greater than a threshold value;

[0018] The driver does not actively step on the accelerator to accelerate;

[0019] The host vehicle does not perform a lane change operation;

[0020] The driver does not actively increase the set vehicle speed.

[0021] Optionally, calculating the post-acceleration vehicle speed value according to a preset rule in step 3 includes:

[0022] When there is a maximum speed limit value on the current road, the accelerated vehicle speed value = min(current vehicle speed * (1 + vehicle speed offset percentage), maximum speed limit value of the current road);

[0023] When there is no speed limit value on the current road, the accelerated vehicle speed value = current vehicle speed * (1 + vehicle speed offset percentage);

[0024] Determine the vehicle speed offset according to the current traffic congestion level: when the current traffic congestion level is severe congestion or congestion, the vehicle speed offset is 0%;

[0025] When the current traffic congestion level is slow moving, the vehicle speed offset is 10%;

[0026] When the current traffic congestion level is smooth, the vehicle speed offset is 15%.

[0027] According to the second aspect of the present invention, there is provided an intelligent vehicle speed control system for preventing congestion, including: a traffic congestion level acquisition unit, a self-vehicle acceleration demand determination unit, and a vehicle speed control unit;

[0028] The traffic congestion level acquisition unit is configured to acquire the traffic congestion level of the current road when the self-vehicle is traveling on the road at a constant speed, and the constant speed is greater than the set value and less than the road speed limit;

[0029] The self-vehicle acceleration demand determination unit is configured to determine whether the self-vehicle needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set time period, and whether the acceleration condition is met; the number of overtaking times is the number of times that the vehicle behind the self-vehicle in the same lane changes lanes to the adjacent lane to overtake the self-vehicle;

[0030] The vehicle speed control unit is configured to, after determining that the self-vehicle needs to accelerate, calculate the accelerated vehicle speed value according to a preset rule, and accelerate the self-vehicle to the accelerated vehicle speed value.

[0031] According to the third aspect of the present invention, there is provided an electronic device, including a memory and a processor, and the processor is configured to implement the steps of the intelligent vehicle speed control method for preventing congestion when executing a computer management program stored in the memory.

[0032] According to the fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer management program is stored, and the computer management program is configured to implement the steps of the intelligent vehicle speed control method for preventing congestion when executed by a processor.

[0033] An anti-congestion intelligent vehicle speed control method, system, electronic device and storage medium provided by the present invention provide a solution for intelligent vehicle speed control to prevent traffic congestion caused by low-speed driving of vehicles. If it is monitored that the vehicle behind frequently changes lanes to overtake the vehicle itself, the current road of the vehicle itself is not congested, and the front of the vehicle itself meets the acceleration condition, the set vehicle speed will be increased, which can effectively reduce the traffic congestion caused by the low-speed driving of the vehicle itself, reduce the traffic accidents caused by congestion, and improve the civilized driving image of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flowchart of an anti-congestion intelligent vehicle speed control method provided by the present invention;

[0035] Figure 2 It is a flowchart of an embodiment of an anti-congestion intelligent vehicle speed control method provided by the present invention;

[0036] Figure 3 It is a structural block diagram of an anti-congestion intelligent vehicle speed control provided by the present invention;

[0037] Figure 4 It is a schematic hardware structure diagram of a possible electronic device provided by the present invention;

[0038] Figure 5 It is a schematic hardware structure diagram of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0040] Figure 1 It is a flowchart of an anti-congestion intelligent vehicle speed control method provided by the present invention, as Figure 1 shown, the vehicle speed control method includes:

[0041] Step 1, when the vehicle itself is driving on the road at a constant speed, and the constant speed is greater than the set value and less than the road speed limit, obtain the traffic congestion level of the current road.

[0042] Step 2, determine whether the vehicle itself needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set time period, and whether the acceleration condition is met; the number of overtaking times is the number of times that the vehicle behind in the same lane as the vehicle itself changes lanes to the adjacent lane to overtake the vehicle itself.

[0043] Step 3, after determining that the vehicle itself needs to accelerate, calculate the vehicle speed value after acceleration according to the preset rule, and accelerate the vehicle itself to the vehicle speed value after acceleration.

[0044] An intelligent vehicle speed control method for preventing congestion provided by the present invention provides a solution for intelligent vehicle speed control to prevent traffic congestion caused by low-speed driving of vehicles. If it is monitored that the vehicle behind frequently changes lanes to overtake the own vehicle, the current road of the own vehicle is not congested, and the front of the own vehicle meets the acceleration condition, the set vehicle speed will be increased, which can effectively reduce the traffic congestion caused by the low-speed driving of the own vehicle, reduce the traffic accidents caused by congestion, and improve the civilized driving image of intelligent driving.

[0045] Embodiment 1

[0046] Embodiment 1 provided by the present invention is an embodiment of an intelligent vehicle speed control method for preventing congestion provided by the present invention. Combining Figure 2 it can be seen that the embodiment of this vehicle speed control method includes:

[0047] Step 1, when the own vehicle is driving on the road at a constant speed, and the constant speed is greater than the set value and less than the road speed limit, obtain the traffic congestion level of the current road.

[0048] In a possible embodiment, the traffic congestion level of the current road includes the current traffic congestion level and the predicted traffic congestion level. The traffic congestion level is obtained through the map, and the traffic congestion level includes: severe congestion, congestion, slow traffic, and smooth traffic.

[0049] In specific implementation, the traffic congestion level of the current road can be the traffic congestion level within a set distance in front of the vehicle. If there are sections with different levels of traffic congestion within the set range, the most severe congestion level shall prevail.

[0050] The predicted traffic congestion level can be the predicted traffic congestion level within the next two hours.

[0051] Step 2, determine whether the own vehicle needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set time period, and whether the acceleration condition is met; the number of overtaking times is the number of times that the vehicle behind in the same lane as the own vehicle changes lanes to the adjacent lane to overtake the own vehicle.

[0052] In specific implementation, the three conditions for determining the acceleration demand of the host vehicle: the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set duration, and the determination order of whether the acceleration condition is met can be randomly set. In a possible embodiment provided by the present invention, first, the traffic congestion level of the current road is determined. Only when the traffic congestion level of the current road is slow or unobstructed, the acceleration demand of the host vehicle is determined according to whether the number of overtaking times exceeds the set number within the set duration and whether the acceleration condition is met. If the traffic congestion level of the current road is severely congested or congested, it means that there is no need to accelerate on the current road, and the subsequent determination of the acceleration demand of the host vehicle is not performed. The determination of whether the number of overtaking times exceeds the set number within the set duration is a data that changes in real time. In specific implementation, the serial number and corresponding overtaking time of each overtaking vehicle can be recorded in real time. When the overtaking time interval of any i-th to i + n-th overtaking vehicles is less than the set duration, it is determined that the number of overtaking times within the set duration exceeds the set number n. The serial number and corresponding overtaking time of each overtaking vehicle recorded in real time can be cleared and initialized according to the set time. Specifically, step 2 may include:

[0053] When the traffic congestion level of the current road is slow or unobstructed, if it is determined that the number of overtaking times exceeds the set number within the set duration and the host vehicle meets the acceleration condition, it is determined that the host vehicle needs to accelerate.

[0054] If the traffic congestion level of the current road is severely congested or congested, or the host vehicle does not meet the acceleration condition, it is directly determined that the host vehicle maintains the current vehicle speed.

[0055] In a possible embodiment, step 2 further includes: the judgment of whether the number of overtaking times exceeds the set number n is only performed when the constant speed of the host vehicle is less than the maximum speed limit value set according to the type of the driving road.

[0056] When the currently set vehicle speed is lower than the set maximum speed limit value and the current constant speed value is maintained for a certain period of time, for example, 30 minutes, and it is detected that the vehicle behind the host vehicle lane changes to the adjacent lane and overtakes the host vehicle more than the set number n, the system considers that the vehicle speed of the host vehicle is relatively low, which may cause congestion. At this time, the subsequent road condition judgment and vehicle speed acceleration control process are to be carried out.

[0057] In a possible embodiment, the set number n in step 2 is set according to the current traffic congestion level and the predicted traffic congestion level.

[0058] Based on the current and predicted congestion levels of the road within the next two hours, the number n is confirmed. This n value can be flexibly set according to requirements. For example, if the current situation is slow or unobstructed and the next two hours are severely congested, then n = 3; if the next two hours are congested, then n = 4; if the next two hours are slow, then n = 5; if the next two hours are unobstructed, then n = 7.

[0059] In a possible embodiment, the method for determining that a vehicle behind the host vehicle in the same lane changes lanes to an adjacent lane and overtakes the host vehicle in step 2 includes:

[0060] Monitor the trajectory of the vehicle behind the host vehicle in the same lane through an angular radar or side-view and rear-view cameras, and determine whether the vehicle behind changes lanes from the host lane to an adjacent lane and overtakes the host vehicle from the adjacent lane.

[0061] Monitor the trajectory of the vehicle behind through an angular radar or side-view and rear-view cameras. If the vehicle behind changes lanes from the host lane to an adjacent lane and overtakes the host vehicle from the adjacent lane, it is considered that the vehicle behind has overtaken the host vehicle once.

[0062] Specifically, the angular radar or camera collects the images of the vehicles in front of, behind, to the left, and to the right of the host vehicle during driving, and determines the presence of the vehicles based on the images of the vehicles. The specific determination process can be as follows:

[0063] When there is a shaded area exceeding the preset area in the images collected in any direction by the angular radar or camera, it is determined that there is a vehicle in that direction; when there is a vehicle behind the host vehicle in the same lane collected by the angular radar or camera, this state is marked as P1; when there is a vehicle to the left or right of the host vehicle collected by the angular radar or camera, this state is marked as P2; when there is a vehicle in front of the host vehicle (regardless of whether it is in the same lane) collected by the angular radar or camera, this state is marked as P3.

[0064] When the vehicle is in the P1 state, the ranging module measures the distance V1 between the host vehicle and the vehicle behind. When this distance V1 becomes smaller, the vehicle is marked. If the state of this vehicle sequentially becomes P2 and P3, it means that this vehicle is an overtaking vehicle, and the time when the state of the vehicle becomes P2 is recorded as the overtaking time.

[0065] In a possible embodiment, meeting the acceleration conditions includes:

[0066] There are no vehicles within the time headway in front of the host vehicle or there are vehicles with a speed higher than that of the host vehicle within the time headway; the time headway is the speed of the host vehicle multiplied by a set duration, such as 2 - 3 seconds.

[0067] The radius of curvature of the lane line of the lane where the host vehicle is located needs to be greater than the threshold value to prevent dangerous situations of accelerating on a curve.

[0068] The driver does not actively step on the accelerator to accelerate, that is, the throttle pedal opening is less than the threshold value.

[0069] The host vehicle does not perform a lane change operation, that is, the steering wheel angle is less than the threshold value.

[0070] The driver does not actively increase the set vehicle speed.

[0071] Step 3, after determining that the host vehicle needs to accelerate, calculate the vehicle speed value after acceleration according to a preset rule, and accelerate the host vehicle to the vehicle speed value after acceleration.

[0072] In a possible embodiment, calculating the vehicle speed value after acceleration according to the preset rule in Step 3 includes:

[0073] When there is a maximum speed limit value on the current road, the vehicle speed value after acceleration = min(current vehicle speed * (1 + vehicle speed offset percentage), maximum speed limit value of the current road).

[0074] When there is no speed limit value on the current road, the vehicle speed value after acceleration = current vehicle speed * (1 + vehicle speed offset percentage).

[0075] Determine the vehicle speed offset according to the current traffic congestion level: when the current traffic congestion level is severe congestion or congestion, the vehicle speed offset is 0%, that is, do not accelerate by oneself.

[0076] When the current traffic congestion level is slow moving, the vehicle speed offset is 10%.

[0077] When the current traffic congestion level is unobstructed, the vehicle speed offset is 15%.

[0078] The vehicle speed offset does not exceed 20% at most. Calculate the vehicle speed value after acceleration according to the preset rule, accelerate the host vehicle to the vehicle speed value after acceleration, and at the same time remind the driver.

[0079] Embodiment 2

[0080] Embodiment 2 provided by the present invention is an embodiment of an anti-congestion intelligent vehicle speed control system provided by the present invention. Figure 3 It is a structural diagram of an anti-congestion intelligent vehicle speed control system provided by an embodiment of the present invention. Combining Figure 3 It can be seen that the embodiment of the vehicle speed control system includes: a traffic congestion level acquisition unit, a host vehicle acceleration demand determination unit, and a vehicle speed control unit.

[0081] The traffic congestion level acquisition unit is used to acquire the traffic congestion level of the current road when the host vehicle is traveling on the road at a constant speed, and the constant speed is greater than the set value.

[0082] In a possible embodiment, the traffic congestion level of the current road includes the current traffic congestion level and the predicted traffic congestion level. The traffic congestion level is obtained through a map, and the traffic congestion level includes: severe congestion, congestion, slow moving, and unobstructed.

[0083] In specific implementation, the traffic congestion level of the current road may be the traffic congestion level within a set distance in front of the vehicle. If there are sections with different levels of traffic congestion within the set range, the most severe congestion level shall prevail.

[0084] A self-vehicle acceleration demand determination unit is used to determine whether the self-vehicle needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds a set number within a set time period, and whether the acceleration condition is met; the number of overtaking times is the number of times that the vehicle behind the self-vehicle in the same lane changes lanes to an adjacent lane and overtakes the self-vehicle.

[0085] In specific implementation, the three conditions for determining the self-vehicle acceleration demand: the traffic congestion level of the current road, whether the number of overtaking times exceeds a set number within a set time period, and whether the acceleration condition is met can be randomly set. In a possible embodiment provided by the present invention, first, the traffic congestion level of the current road is determined. Only when the traffic congestion level of the current road is slow or unobstructed, the self-vehicle acceleration demand is determined according to whether the number of overtaking times exceeds a set number within a set time period and whether the acceleration condition is met. If the traffic congestion level of the current road is severely congested or congested, it means that there is no need to accelerate on the current road, and the subsequent self-vehicle acceleration demand determination is not performed. The determination of whether the number of overtaking times exceeds a set number within a set time period is a real-time updated and changing data. In specific implementation, the serial number and corresponding overtaking time of each overtaking vehicle can be recorded in real time. When the overtaking time interval between any i-th to i + n-th overtaking vehicles is less than the set time period, it is determined that the number of overtaking times exceeds the set number n within the set time period. The serial number and corresponding overtaking time of each overtaking vehicle recorded in real time can be cleared and initialized according to the set time. Specifically, step 2 may include:

[0086] When the traffic congestion level of the current road is slow or unobstructed, if it is determined that the number of overtaking times exceeds the set number and the self-vehicle meets the acceleration condition, it is determined that the self-vehicle needs to accelerate.

[0087] In a possible embodiment, the determination process of the self-vehicle acceleration demand determination unit further includes: when the constant speed of the self-vehicle is less than the maximum speed limit value set according to the type of the driving road, the determination of whether the number of overtaking times exceeds the set number n is performed.

[0088] In a possible embodiment, the set number n in the determination process of the self-vehicle acceleration demand determination unit is set according to the current traffic congestion level and the predicted traffic congestion level.

[0089] In a possible embodiment, the method for determining that the vehicle behind the self-vehicle in the same lane changes lanes to an adjacent lane and overtakes the self-vehicle in the determination process of the self-vehicle acceleration demand determination unit includes:

[0090] Monitor the trajectory of the vehicle behind the self-vehicle in the same lane through an angular radar or side-view and rear-view cameras, and determine whether the vehicle behind changes lanes from the self-lane to an adjacent lane and overtakes the self-vehicle from the adjacent lane.

[0091] In a possible embodiment, meeting the acceleration condition includes:

[0092] There are no vehicles within the time headway in front of the host vehicle, or there are vehicles with a speed higher than the host vehicle within the time headway; the time headway is the host vehicle speed multiplied by a set duration, for example, 2 - 3 seconds.

[0093] The radius of curvature of the lane line of the lane where the host vehicle is located needs to be greater than the threshold value to prevent dangerous situations of accelerating on curves.

[0094] The driver does not actively step on the accelerator to accelerate, that is, the opening of the accelerator pedal is less than the threshold value.

[0095] The host vehicle does not perform a lane change operation, that is, the steering wheel angle is less than the threshold value.

[0096] The driver does not actively increase the set vehicle speed.

[0097] A vehicle speed control unit, which is used to calculate the vehicle speed value after acceleration according to a preset rule after determining that the host vehicle needs to accelerate, and accelerate the host vehicle to the vehicle speed value after acceleration.

[0098] In a possible embodiment, the vehicle speed control unit calculates the vehicle speed value after acceleration according to a preset rule, including:

[0099] When there is a maximum speed limit value on the current road, the vehicle speed value after acceleration = min(current vehicle speed * (1 + vehicle speed offset percentage), maximum speed limit value of the current road).

[0100] When there is no speed limit value on the current road, the vehicle speed value after acceleration = current vehicle speed * (1 + vehicle speed offset percentage).

[0101] Determine the vehicle speed offset according to the current traffic congestion level: when the current traffic congestion level is severe congestion and congestion, the vehicle speed offset is 0%.

[0102] When the current traffic congestion level is slow traffic, the vehicle speed offset is 10%.

[0103] When the current traffic congestion level is smooth traffic, the vehicle speed offset is 15%.

[0104] The vehicle speed offset does not exceed 20% at most. Calculate the vehicle speed value after acceleration according to the preset rule, accelerate the host vehicle to the vehicle speed value after acceleration, and remind the driver at the same time.

[0105] It can be understood that an anti-congestion intelligent vehicle speed control system provided by the present invention corresponds to the anti-congestion intelligent vehicle speed control method provided in the foregoing embodiments. The relevant technical features of the anti-congestion intelligent vehicle speed control system can refer to the relevant technical features of the anti-congestion intelligent vehicle speed control method, and will not be elaborated here.

[0106] Please refer toFigure 4 , Figure 4 is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 4 shown, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: when the vehicle travels on the road at a constant speed, and the constant speed is greater than the set value and less than the road speed limit, obtain the traffic congestion level of the current road; determine whether the vehicle itself needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times within the set time period exceeds the set number, and whether the acceleration condition is satisfied; the number of overtaking times is the number of times that the vehicle behind the vehicle itself in the same lane changes to the adjacent lane to overtake the vehicle itself; after determining that the vehicle itself needs to accelerate, calculate the vehicle speed value after acceleration according to the preset rule, and accelerate the vehicle itself to the vehicle speed value after acceleration.

[0107] Please refer to Figure 5 , Figure 5 is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 5 shown, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, the following steps are implemented: when the vehicle travels on the road at a constant speed, and the constant speed is greater than the set value and less than the road speed limit, obtain the traffic congestion level of the current road; determine whether the vehicle itself needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times within the set time period exceeds the set number, and whether the acceleration condition is satisfied; the number of overtaking times is the number of times that the vehicle behind the vehicle itself in the same lane changes to the adjacent lane to overtake the vehicle itself; after determining that the vehicle itself needs to accelerate, calculate the vehicle speed value after acceleration according to the preset rule, and accelerate the vehicle itself to the vehicle speed value after acceleration.

[0108] An anti-congestion intelligent vehicle speed control method, system, electronic device and storage medium provided by an embodiment of the present invention provide a solution for intelligent vehicle speed control to prevent traffic congestion caused by low-speed driving of vehicles. If it is monitored that the vehicle behind frequently changes lanes to overtake the own vehicle, the current road of the own vehicle is not congested, and the front of the own vehicle meets the acceleration condition, the set vehicle speed will be increased; the conditions for determining whether to accelerate include three aspects: the traffic congestion level of the current road, whether the vehicle behind frequently changes lanes to overtake the own vehicle, and whether the own vehicle meets the acceleration condition. In the first step, the traffic congestion level is determined first, and only when the traffic congestion level is slow or unobstructed, subsequent determinations are considered. The subsequent determinations start from two perspectives: the overtaking situation and whether the environment allows acceleration, making the determination rules more reasonable; the traffic congestion level includes the current traffic congestion level and the predicted traffic congestion level, which can be quickly obtained directly through the map; monitoring whether the vehicle behind frequently changes lanes to overtake the own vehicle can set different threshold numbers of overtakes according to different current road congestion levels, making the determination criteria more in line with the actual situation; the conditions for the vehicle to meet the acceleration requirement consider two aspects: the road environment and the real-time operating conditions of the vehicle, minimizing the possibility of danger when the vehicle accelerates; it can effectively reduce the traffic congestion caused by the low-speed driving of the own vehicle, reduce the traffic accidents caused by congestion, and improve the civilized driving image of intelligent driving.

[0109] It should be noted that in the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0110] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, system, or computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be realized by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for realizing in the process Figure 1 one process or multiple processes and / or blocks Figure 1means for the functions specified in one or more boxes.

[0112] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions specified in one Figure 1 one or more processes and / or boxes Figure 1 one or more boxes.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one or more processes and / or boxes Figure 1 one or more boxes.

[0114] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0115] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent vehicle speed control method for preventing congestion, characterized in that, the vehicle speed control method includes: Step 1, when the vehicle is traveling at a constant speed on the road and the constant speed is greater than the set value and less than the road speed limit, obtain the traffic congestion level of the current road; Step 2, determine whether the vehicle needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set time period, and whether the acceleration condition is met; the overtaking times refer to the number of times that the vehicle behind the self-vehicle in the same lane changes lanes to the adjacent lane to overtake the self-vehicle; Step 3, after determining that the vehicle needs to accelerate, calculate the vehicle speed value after acceleration according to the preset rule, and accelerate the vehicle to the vehicle speed value after acceleration; Calculating the vehicle speed value after acceleration according to the preset rule in Step 3 includes: When there is a maximum speed limit value on the current road, the vehicle speed value after acceleration = min(current vehicle speed * (1 + vehicle speed offset percentage), the maximum speed limit value of the current road); When there is no speed limit value on the current road, the vehicle speed value after acceleration = current vehicle speed * (1 + vehicle speed offset percentage); Determine the vehicle speed offset according to the current traffic congestion level: when the current traffic congestion level is severe congestion and congestion, the vehicle speed offset is 0%; When the current traffic congestion level is slow traffic, the vehicle speed offset is 10%; When the current traffic congestion level is smooth traffic, the vehicle speed offset is 15%.

2. The vehicle speed control method according to claim 1, characterized in that, the traffic congestion level of the current road includes the current traffic congestion level and the predicted traffic congestion level, the traffic congestion level is obtained through the map, and the traffic congestion level includes: severe congestion, congestion, slow traffic and smooth traffic; The set number in Step 2 is set according to the current traffic congestion level and the predicted traffic congestion level.

3. The vehicle speed control method according to claim 1, characterized in that, Step 2 includes: When the traffic congestion level of the current road is slow traffic or smooth traffic, determine that the vehicle needs to accelerate when the number of overtaking times exceeds the set number within the set time period and the self-vehicle meets the acceleration condition.

4. The vehicle speed control method according to claim 1 or 3, characterized in that, Step 2 further includes: only when the constant speed at which the vehicle is traveling is less than the maximum speed limit value set according to the type of the driving road, the judgment of whether the number of overtaking times exceeds the set number is made.

5. The vehicle speed control method according to claim 1, characterized in that, the determination method of the vehicle behind the self-vehicle in the same lane changing lanes to the adjacent lane to overtake the self-vehicle in Step 2 includes: Monitor the trajectory of the vehicle behind the self-vehicle in the same lane through an angular radar or a side view and rear view camera, and determine whether the vehicle behind changes lanes from the self-lane to the adjacent lane and overtakes the self-vehicle from the adjacent lane.

6. The vehicle speed control method according to claim 1, characterized in that, The acceleration condition being met includes: There is no vehicle within the time headway in front of the self-vehicle or there is a vehicle with a speed higher than the self-vehicle within the time headway; the time headway is the self-vehicle speed multiplied by the set time period; the radius of curvature of the lane line of the lane where the self-vehicle is located needs to be greater than the threshold value; The driver does not actively step on the accelerator to accelerate; The host vehicle has not performed a lane change operation; The driver has not actively increased the set vehicle speed.

7. An intelligent vehicle speed control system for preventing traffic jams, characterized in that the vehicle speed control system includes: a traffic congestion level acquisition unit, a host vehicle acceleration demand determination unit, and a vehicle speed control unit; the traffic congestion level acquisition unit is used to obtain the traffic congestion level of the current road when the host vehicle is driving on the road at a constant speed, and the constant speed is greater than the set value and less than the road speed limit; the host vehicle acceleration demand determination unit is used to determine whether the host vehicle needs to accelerate according to the traffic congestion level of the current road, whether the number of overtaking times exceeds the set number within the set time period, and whether the acceleration condition is met; the number of overtaking times is the number of times that the vehicle behind the host vehicle in the same lane changes to the adjacent lane to overtake the host vehicle; the vehicle speed control unit is used to calculate the vehicle speed value after acceleration according to a preset rule after determining that the host vehicle needs to accelerate, and accelerate the host vehicle to the vehicle speed value after acceleration; the calculation of the vehicle speed value after acceleration according to the preset rule includes: when there is a maximum speed limit value on the current road, the vehicle speed value after acceleration = min(current vehicle speed * (1 + vehicle speed offset percentage), current road maximum speed limit value); when there is no speed limit value on the current road, the vehicle speed value after acceleration = current vehicle speed * (1 + vehicle speed offset percentage); determine the vehicle speed offset according to the current traffic congestion level: when the current traffic congestion level is severe congestion and congestion, the vehicle speed offset is 0%; when the current traffic congestion level is slow traffic, the vehicle speed offset is 10%; when the current traffic congestion level is smooth traffic, the vehicle speed offset is 15%.

8. An electronic device, characterized in that it includes a memory and a processor, and the processor is used to implement the steps of the intelligent vehicle speed control method for preventing traffic jams according to any one of claims 1-6 when executing the computer management type program stored in the memory.

9. A computer-readable storage medium, characterized in that a computer management type program is stored thereon, and the computer management type program is used to implement the steps of the intelligent vehicle speed control method for preventing traffic jams according to any one of claims 1-6 when executed by a processor.

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