Speed limit information determination method and device, equipment, storage medium and vehicle

Abstract

Embodiments of the present application provide a speed limit information determination method and device, equipment, storage medium and vehicle, comprising obtaining first speed limit information of a current section of a vehicle, second speed limit information of the current section in a high-precision map and third speed limit information of the current section in a navigation map, the first speed limit information being information obtained by recognizing a road sign image of the current section, the road sign image comprising speed limit information; in the case that the first speed limit information comprises a speed limit value, determining the first speed limit information as target speed limit information; in the case that the first speed limit information does not comprise a speed limit value and the third speed limit information comprises target type speed limit information, determining the third speed limit information as target speed limit information; in the case that the first speed limit information does not comprise a speed limit value and the third speed limit information does not comprise target type speed limit information, determining the second speed limit information as target speed limit information. According to the embodiments of the present application, the accuracy of the speed limit information and the accuracy of the vehicle speed adjustment are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic driving, and particularly relates to a speed limit information determination method and device, equipment, a storage medium and a vehicle. BACKGROUND

[0002] With the rapid development of automatic driving technology, an assisted driving system is increasingly pursuing to provide users with a more comfortable driving experience.

[0003] Currently, the assisted driving system mainly controls the acceleration and deceleration of a vehicle through speed limit information of a high-precision map. However, the accuracy of the speed limit information of the high-precision map is low, resulting in low accuracy of vehicle speed regulation. SUMMARY

[0004] The application provides a speed limit information determination method, device, equipment, storage medium and vehicle, which can improve the accuracy of speed limit information and thus improve the accuracy of vehicle speed regulation.

[0005] In a first aspect, the application provides a speed limit information determination method, which comprises:

[0006] obtaining first speed limit information of a current road section on which a vehicle travels, second speed limit information of the current road section in a high-precision map, and third speed limit information of the current road section in a navigation map; the first speed limit information is information obtained by recognizing a road sign image, and the road sign image comprises speed limit information;

[0007] in a case where the first speed limit information comprises a speed limit value, determining that the first speed limit information is target speed limit information;

[0008] in a case where the first speed limit information does not comprise a speed limit value and the third speed limit information comprises target type speed limit information, determining that the third speed limit information is the target speed limit information;

[0009] in a case where the first speed limit information does not comprise a speed limit value and the third speed limit information does not comprise target type speed limit information, determining that the second speed limit information is the target speed limit information.

[0010] In an embodiment, the method further comprises:

[0011] in a case where the first speed limit information, the second speed limit information and the third speed limit information all comprise speed limit values, and the speed limit values in the second speed limit information and the third speed limit information are inconsistent, sending the first speed limit information to a control device, so that the control device adjusts the second speed limit information of the current road section in the high-precision map to the first speed limit information and adjusts the third speed limit information of the current road section in the navigation map to the first speed limit information.

[0012] In an embodiment, the target type speed limit information comprises electronic eye speed limit information, and the method further comprises:

[0013] obtaining fourth speed limit information of a next road segment on which the vehicle travels in the navigation map, the fourth speed limit information comprising electronic eye speed limit information and position information of the electronic eye;

[0014] determining the fourth speed limit information as the target speed limit information when a distance between the position of the vehicle and the position of the electronic eye is within a preset distance.

[0015] In an embodiment, the method further comprises:

[0016] determining the second speed limit information as the target speed limit information when the road segment on which the vehicle travels changes, or the first speed limit information comprises speed limit removal information.

[0017] In an embodiment, the method further comprises:

[0018] obtaining a speed displayed by an instrument of the vehicle when the navigation assisted driving function is activated;

[0019] determining a target speed as a larger speed between the target speed limit information and the speed displayed by the instrument;

[0020] driving based on the target speed.

[0021] In an embodiment, the method further comprises:

[0022] adjusting the target speed to a preset speed when a type of the road segment on which the vehicle travels changes from a first road type to a second road type, the first road type comprising a main road, and the second road type comprising a ramp, a deceleration lane or an acceleration lane.

[0023] In an embodiment, the method further comprises:

[0024] generating prompt information according to the target speed limit information, the prompt information comprising a speed limit value;

[0025] outputting the prompt information.

[0026] In a second aspect, an embodiment of the present application provides a speed limit information determination apparatus, which comprises:

[0027] obtain a first speed limit information of a current road segment where the vehicle travels, a second speed limit information of the current road segment in a high-definition map, and a third speed limit information of the current road segment in a navigation map, wherein the first speed limit information is obtained from a road sign image of the current road segment, and the road sign image comprises speed limit information;

[0028] determine the first speed limit information as target speed limit information when the first speed limit information comprises a speed limit value;

[0029] determine the third speed limit information as the target speed limit information when the first speed limit information does not comprise a speed limit value and the third speed limit information comprises target type speed limit information;

[0030] determine the second speed limit information as the target speed limit information when the first speed limit information does not comprise a speed limit value and the third speed limit information does not comprise target type speed limit information.

[0031] In an embodiment, the speed limit information determination apparatus further comprises a sending module;

[0032] send the first speed limit information to a control device when the first speed limit information, the second speed limit information, and the third speed limit information all comprise speed limit values, and the speed limit values in the second speed limit information and the third speed limit information are inconsistent, so that the control device adjusts the second speed limit information of the current road segment in the high-definition map to the first speed limit information, and adjusts the third speed limit information of the current road segment in the navigation map to the first speed limit information.

[0033] In an embodiment, the target type speed limit information comprises electronic eye speed limit information;

[0034] obtain a fourth speed limit information of a next road segment where the vehicle travels in the navigation map, wherein the fourth speed limit information comprises electronic eye speed limit information and a position of an electronic eye;

[0035] determine the fourth speed limit information as the target speed limit information when a distance between the position of the vehicle and the position of the electronic eye is within a preset distance.

[0036] In an embodiment, the determination module is further configured to determine the second speed limit information as the target speed limit information when the road segment where the vehicle travels changes, or the first speed limit information comprises lifted speed limit information.

[0037] In an embodiment, the speed limit information determination apparatus further comprises a driving module;

[0038] The acquisition module is further configured to acquire a speed displayed by an instrument of the vehicle when the navigation assisted driving function is activated.

[0039] The determination module is further configured to determine a larger one of the target speed limit information and the speed displayed by the instrument as a target speed.

[0040] The driving module is configured to drive based on the target speed.

[0041] In an embodiment, the speed limit information determination apparatus further comprises an adjustment module.

[0042] The adjustment module is configured to adjust the target speed to a preset speed when a type of a driving section of the vehicle changes from a first road type to a second road type, the first road type comprising a main road, and the second road type comprising a ramp, a deceleration lane or an acceleration lane.

[0043] In an embodiment, the speed limit information determination apparatus further comprises a generation module and an output module.

[0044] The generation module is configured to generate prompt information according to the target speed limit information, the prompt information comprising a speed limit value.

[0045] The output module is configured to output the prompt information.

[0046] In a third aspect, an electronic device is provided, which comprises a processor and a memory storing computer program instructions.

[0047] The processor, when executing the computer program instructions, implements the speed limit information determination method in any one of the embodiments of the first aspect.

[0048] In a fourth aspect, a computer storage medium is provided, which stores computer program instructions, and the computer program instructions, when executed by a processor, implement the speed limit information determination method in any one of the embodiments of the first aspect.

[0049] In a fifth aspect, a vehicle is provided, which comprises at least one of the speed limit information determination apparatus of the second aspect, the electronic device of the third aspect, or the computer storage medium of the fourth aspect.

[0050] The speed limit information determination method, device, equipment, storage medium and vehicle provided by the embodiments of the present application obtain the first speed limit information of the current road section on which the vehicle travels, the second speed limit information of the current road section in the high-precision map, and the third speed limit information of the current road section in the navigation map, wherein the first speed limit information is obtained from a road sign image of the current road section, and the road sign image includes speed limit information. In this way, the speed limit information obtained through three different ways can be comprehensively verified, and more accurate speed limit information can be selected. Then, in the case that the first speed limit information includes a speed limit value, the first speed limit information is determined as target speed limit information; in the case that the first speed limit information does not include a speed limit value and the third speed limit information includes target type speed limit information, the third speed limit information is determined as target speed limit information; and in the case that the first speed limit information does not include a speed limit value and the third speed limit information does not include target type speed limit information, the second speed limit information is determined as target speed limit information. In this way, the accuracy of the speed limit information can be improved by arbitrating the speed limit information obtained through multiple ways, and the accuracy of the vehicle speed adjustment can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0052] Figure 1 is one of the flowcharts of the speed limit information determination method provided by an embodiment of the present application;

[0053] Figure 2 is another flowchart of the speed limit information determination method provided by an embodiment of the present application;

[0054] Figure 3 is a structural diagram of the speed limit information determination device provided by an embodiment of the present application;

[0055] Figure 4 is a structural diagram of the electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0057] In the following description, many specific details are set forth in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be practiced without the specific details. It is apparent that the embodiments described in the specification are only a part of the embodiments of the present disclosure, not all the embodiments.

[0058] It should be noted that, in the present document, relational terms such as "first" and "second", and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", "includes", "including", or any other variation thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0059] Navigation on ADAS (NOA) is a navigation assisted driving function based on navigation map and high-precision map on the basis of advanced driver assistance system (ADAS), which enables the driver to realize intelligent cruise control of vehicle speed on a closed loop and on a highway, to automatically overtake a vehicle in front, to automatically switch between a loop and a highway according to navigation, and to automatically drive into and out of a ramp. With the development of current technology, the advanced driver assistance system pursues to provide users with more comfortable and intelligent driving experience.

[0060] At present, the acceleration and deceleration control of a vehicle is usually performed according to high-precision map speed limit information. However, due to the low accuracy of the speed limit information, abrupt speed adjustment problems may occur on some road sections.

[0061] To solve the above problems, the embodiment of the present application provides a speed limit information determination method, device and equipment and computer storage medium, the speed limit information determination method can obtain the first speed limit information of the current road section of the vehicle, the second speed limit information of the current road section in the high-definition map, and the third speed limit information of the current road section in the navigation map, wherein the first speed limit information is the information obtained by identifying the road sign image of the current road section, and the road sign image includes speed limit information, so as to facilitate the comprehensive verification of the speed limit information of three different ways and select more accurate speed limit information. Then, in the case that the first speed limit information includes the speed limit value, the first speed limit information is determined as the target speed limit information; in the case that the first speed limit information does not include the speed limit value and the third speed limit information includes the target type speed limit information, the third speed limit information is determined as the target speed limit information; in the case that the first speed limit information does not include the speed limit value and the third speed limit information does not include the target type speed limit information, the second speed limit information is determined as the target speed limit information, so as to improve the accuracy of the speed limit information and the accuracy of the vehicle speed adjustment through the arbitration of the speed limit information of multiple ways. First, the speed limit information determination method provided by the embodiment of the present application is introduced.

[0062] Figure 1 The flowchart of the speed limit information determination method provided by the embodiment of the present application is shown, and the execution subject of the speed limit information determination method can be a controller. It should be noted that the execution subject does not constitute a limitation on the present application.

[0063] As shown in Figure 1 , the speed limit information determination method can specifically include the following steps:

[0064] S110, obtaining the first speed limit information of the current road section of the vehicle, the second speed limit information of the current road section in the high-definition map, and the third speed limit information of the current road section in the navigation map, the first speed limit information being the information obtained by identifying the road sign image of the current road section, and the road sign image can include speed limit information.

[0065] The current road section can be the road section where the vehicle is currently driving. The road sign image can be the image of the roadside road sign of the current road section, which can be obtained by shooting the roadside road sign of the current road section through a camera, wherein the camera can be arranged inside or outside the vehicle, which is not limited here.

[0066] The high-definition map can be a high-resolution map (HDMap) used for automatic driving service, and the navigation map can be a standard navigation map (SDMap) carried by the vehicle. The navigation map and the high-definition map can be pre-stored offline maps. The second speed limit information and the third speed limit information include speed limit values.

[0067] It should be noted that in the field of transportation, a road segment can be a transportation route between two adjacent nodes on a transportation network.

[0068] S120, if the first speed limit information includes a speed limit value, determine the first speed limit information as the target speed limit information.

[0069] If a speed limit is identified when recognizing the road sign image of the current road segment, then the first speed limit information is determined as the target speed limit information.

[0070] As an example, while a vehicle is traveling on the current road segment, the vehicle's camera captures speed limit information from road sign images. If the speed limit information output by the camera includes a speed limit value, such as 60 km / h (kph), then that speed limit information is output as the speed limit result.

[0071] S130, if the first speed limit information does not include the speed limit value and the third speed limit information includes the target type speed limit information, the third speed limit information is determined to be the target speed limit information.

[0072] The third speed limit information may include the speed limit type. If no speed limit value is identified when recognizing the road sign image of the current road segment, the first speed limit information obtained is empty. If the target type speed limit information of the current road segment is obtained in the navigation map, the third speed limit information is determined as the target speed limit information. The target type speed limit information may be the speed limit information of the electronic eye.

[0073] As an example, while the vehicle is driving on the current road segment, the camera in the vehicle obtains the speed limit information from the road sign image and the speed limit information of the current road segment from the navigation map. If there is no speed limit value in the speed limit information output by the camera, it is determined whether the speed limit information of the current road segment in the navigation map is the speed limit information of the electronic eye. If so, the speed limit information of the current road segment in the navigation map is output as the speed limit result.

[0074] S140, if the first speed limit information does not include a speed limit value and the third speed limit information does not include target type speed limit information, then the second speed limit information is determined to be the target speed limit information.

[0075] If no speed limit is detected when identifying the road sign image of the current road segment, that is, the first speed limit information obtained is empty, and the speed limit information of the current road segment in the navigation map is not the target type speed limit information, such as the speed limit information of the current road segment is the speed limit information of the sign on the highway, the legal speed limit information without speed limit signs, the speed limit information of special road segments, or the speed limit information of special weather, then the second speed limit information is determined as the target speed limit information.

[0076] As an example, during the process of the vehicle driving on the current road section, the speed limit information in the signboard image of the vehicle driving is obtained through the camera in the vehicle, and the speed limit information in the navigation map and the high-precision map is obtained. If there is no speed limit value in the speed limit information output by the camera, and the speed limit information in the navigation map is not the electronic eye speed limit information, the speed limit information in the high-precision map is output as the speed limit result.

[0077] In the embodiments of the present application, the first speed limit information of the current road section where the vehicle drives, the second speed limit information of the current road section in the high-precision map, and the third speed limit information of the current road section in the navigation map are obtained, wherein the first speed limit information is the information obtained by recognizing the signboard image of the current road section, and the signboard image includes speed limit information. In this way, the speed limit information of three different ways is comprehensively verified, and more accurate speed limit information is selected. Then, in the case that the first speed limit information includes a speed limit value, the first speed limit information is determined as the target speed limit information; in the case that the first speed limit information does not include a speed limit value, and the third speed limit information includes the target type speed limit information, the third speed limit information is determined as the target speed limit information; in the case that the first speed limit information does not include a speed limit value, and the third speed limit information does not include the target type speed limit information, the second speed limit information is determined as the target speed limit information. In this way, by arbitrating the speed limit information of multiple ways, the accuracy of the speed limit information can be improved, and the accuracy of the vehicle speed adjustment can be improved.

[0078] In some embodiments, the method for determining the speed limit information can further include:

[0079] In the case that the first speed limit information, the second speed limit information, and the third speed limit information all include speed limit values, and the speed limit values in the second speed limit information and the third speed limit information are inconsistent, the first speed limit information is sent to the control device, so that the control device adjusts the second speed limit information of the current road section in the high-precision map to the first speed limit information, and adjusts the third speed limit information of the current road section in the navigation map to the first speed limit information.

[0080] The consistency of the speed limit values in the second speed limit information and the third speed limit information is judged, and if the speed limit values in the second speed limit information and the third speed limit information are inconsistent, the first speed limit information is sent to the control device, wherein the control device can be a device including a control system in the vehicle.

[0081] After the control device receives the first speed limit information, the speed limit information of the current road section in the high-precision map and the navigation map is updated, the second speed limit information of the current road section in the high-precision map is adjusted to the first speed limit information, and the third speed limit information of the current road section in the navigation map is adjusted to the first speed limit information.

[0082] As an example, during the driving of the vehicle, the speed limit information A in the signboard image of the current road segment driven by the vehicle is obtained through the camera in the vehicle, the speed limit information B of the HD Map in the current road segment is obtained, and the speed limit information C of the SD Map in the current road segment is obtained. It is judged whether there is a difference between the speed limit values in the speed limit information B and the speed limit information C. If there is a difference, the speed limit information A output by the camera is taken as the true value for data reporting, and is reported to the control device of the vehicle. After the control device receives the speed limit information A output by the camera, the speed limit information B of the current road segment in the HD Map is adjusted to the speed limit information A, and the speed limit information C of the current road segment in the SD Map is adjusted to the speed limit information A.

[0083] In the embodiments of the present application, in the case that the first speed limit information, the second speed limit information and the third speed limit information all include speed limit values, and the speed limit values in the second speed limit information and the third speed limit information are inconsistent, the first speed limit information is sent to the control device, so that the control device adjusts the second speed limit information of the current road segment in the high-precision map to the first speed limit information, and adjusts the third speed limit information of the current road segment in the navigation map to the first speed limit information. In this way, the accuracy of the speed limit information of the high-precision map and the navigation map can be improved, the effective iteration of the accuracy of the speed limit information is promoted, and the determination of the speed limit information is facilitated next time.

[0084] In some embodiments, the target type speed limit information can include electronic eye speed limit information, and the determination method of the speed limit information can further include:

[0085] The fourth speed limit information of the next road segment driven by the vehicle in the navigation map is obtained, and the fourth speed limit information includes electronic eye speed limit information and the position of the electronic eye.

[0086] In the case that the distance between the position of the vehicle and the position of the electronic eye is within the preset distance, the fourth speed limit information is determined as the target speed limit information.

[0087] The next road segment here can be determined according to the route input by the user in the navigation map. The fourth speed limit information can be the speed limit information of the next road segment obtained from the navigation map, and can include electronic eye speed limit information and electronic eye position information.

[0088] The position of the vehicle is obtained, and the distance between the position of the vehicle and the position of the electronic eye is calculated. If the distance is within the preset distance, the fourth speed limit information is determined as the target speed limit information, wherein the preset distance can be any threshold value set by the user in advance, for example, it can be 200 meters.

[0089] As an example, during the driving of the vehicle, the speed limit information D of the next road section of the vehicle in the navigation map is obtained in advance, if the speed limit type of the speed limit information D is the electronic eye speed limit information, the position of the electronic eye and the current position of the vehicle are obtained, when the vehicle drives to the front 200 meters of the electronic eye, that is, the distance between the position of the vehicle and the position of the electronic eye is 200 meters, the speed limit information D in the navigation map is output as the speed limit result. In addition, the speed limit information D is maintained as the output speed limit result within a certain distance of the electronic eye.

[0090] In the embodiment of the application, the fourth speed limit information of the next road section of the vehicle in the navigation map is obtained, the fourth speed limit information includes electronic eye speed limit information and the position of the electronic eye, and the fourth speed limit information is determined as the target speed limit information when the distance between the position of the vehicle and the position of the electronic eye is within the preset distance. In this way, the speed limit information of the next road section in the navigation map can be obtained in advance, and when the speed limit information is of the electronic eye type, the speed limit information of the navigation map is switched in advance by a preset distance, which effectively avoids the speeding behavior of the driver.

[0091] In some embodiments, the method for determining the speed limit information can further include:

[0092] When the driving road section of the vehicle changes, or the first speed limit information includes the speed limit removal information, the second speed limit information is determined as the target speed limit information.

[0093] The speed limit removal information can be the speed limit removal instruction or identification information obtained by recognizing the sign image.

[0094] For example, if the target speed limit information of the vehicle in the current road section is the first speed limit information or the third road information, when the driving road section of the vehicle changes, or the speed limit removal information is recognized from the sign image, the target speed limit information is switched to the second speed limit information.

[0095] As an example, during the driving of the vehicle, the speed limit result of the current driving road section is output as the speed limit information in the navigation map, the speed limit value is 60kph and the speed limit type is electronic eye speed limit information, and the vehicle maintains the speed limit value 60kph of the electronic eye within a certain distance behind the electronic eye. However, when the vehicle turns onto another road, or the speed limit removal information (visual information) in the front speed limit removal sign is obtained through the camera, the speed limit result of the current driving road section is output as the speed limit information in the high-precision map. In addition, when new speed limit information is obtained through the camera in the front sign image, or there is new electronic eye speed limit information within a certain distance (300 meters, adjustable) in front, the speed limit result of the current driving road section is output as the speed limit information in the high-precision map. The speed limit result of the current driving road section can also be output as the new speed limit information or the new electronic eye speed limit information.

[0096] In the embodiments of the present application, by determining the second speed limit information as the target speed limit information when the driving section of the vehicle changes or when the first speed limit information includes the speed limit removal information, the speed limit information can be quickly converted when the driving section of the vehicle changes, and the efficiency and accuracy of obtaining the speed limit information are improved.

[0097] As shown in FIG. 1, in some embodiments, the method for determining the speed limit information can further include the following S150 to S170: Figure 2

[0098] S150, obtaining the instrument display speed of the vehicle when the navigation assisted driving function is activated.

[0099] S160, determining the greater speed between the target speed limit information and the instrument display speed as the target speed.

[0100] S170, driving based on the target speed.

[0101] The navigation assisted driving function (NOA) can be a navigation assisted driving function based on navigation and high-precision map. When the navigation assisted driving function is activated, the instrument display speed of the vehicle and the target speed limit information are obtained, wherein the instrument display speed can be the speed displayed on the current instrument panel of the vehicle, i.e., the current driving speed of the vehicle.

[0102] The target speed of the vehicle is spd target max(spd display , spd limit ), wherein spd display is the instrument display speed of the vehicle, and spd limit is the target speed limit information, and the vehicle drives at the target speed.

[0103] As an example, at the moment when the NOA function of the vehicle is activated, if the instrument display speed of the vehicle is obtained as 80 kph and the speed limit result is 60 kph, the greater speed between the instrument display speed and the speed limit result, i.e., the instrument display speed 80 kph, is taken as the target speed of the vehicle, and the vehicle drives at 80 kph; if the instrument display speed of the vehicle is obtained as 50 kph and the speed limit result is 60 kph, the greater speed between the instrument display speed and the speed limit result, i.e., the speed limit result 60 kph, is taken as the target speed of the vehicle, and the vehicle drives at 60 kph.

[0104] ​In the embodiments of the present application, the instrument display speed of the vehicle is obtained when the navigation assisted driving function is activated, and the larger speed between the target speed limit information and the instrument display speed of the vehicle is determined as the target speed, so as to drive based on the target speed. In this way, at the time when the navigation assisted driving function is activated during the driving of the vehicle, the abrupt acceleration and deceleration can be avoided, the driving experience of the user is improved, and the target speed can be increased when the instrument display speed is too low, so as to improve the traffic efficiency of the vehicle.

[0105] In some embodiments, the method for determining the speed limit information can further include:

[0106] When the type of the driving section of the vehicle changes from the first road type to the second road type, the target speed is adjusted to the preset speed.

[0107] The first road type can include a main road, and the second road type can include a ramp, a deceleration lane or an acceleration lane.

[0108] When the type of the road on which the vehicle is driving changes, if the change is from the first road type to the second road type, the target speed is adjusted to the preset speed, wherein the preset speed can be any speed set by the user in advance, for example, 60 kph.

[0109] In some embodiments, when the type of the driving section of the vehicle is the first road type, the target speed changes in accordance with the speed limit value in the target speed limit information.

[0110] In some embodiments, when the instruction for adjusting the target speed of the vehicle is received, the target speed is changed to the speed in the instruction. For example, if the driver adjusts the cruise target speed, the target speed of the vehicle is set to the speed adjusted by the driver. In this way, the speed adjusted by the user manually can be given priority, and the driving experience of the user is improved. target The speed adjusted by the driver is set. In this way, the speed adjusted by the user manually can be given priority, and the driving experience of the user is improved.

[0111] In addition, during the activation of the navigation assisted driving function, when the function is degraded, the target speed is set to the smaller speed between 60 kph and the current target speed. In this way, when the navigation assisted driving function is degraded, the reaction time of the driver is given, and the driving experience is improved.

[0112] As an example, during the driving of the vehicle, the speed limit result of the vehicle is obtained, if it is identified that the vehicle is driving on a main road, the current target speed of the vehicle is set to change in accordance with the speed limit value in the speed limit result. If it is identified that the vehicle enters a ramp from the main road, the current target speed of the vehicle is set to 60 kph. However, if the current target speed of the vehicle is the speed adjusted by the driver, the target speed is maintained at the current target speed of the vehicle, which cannot exceed 80 kph, and if it is greater than 80 kph, it is set to 80 kph.

[0113] In the embodiments of the present application, the target speed is adjusted to the preset speed when the type of the driving section of the vehicle changes from a first road type to a second road type, the first road type includes a main road, and the second road type includes a ramp, a deceleration lane, or an acceleration lane. In this way, the speed can be adjusted according to the type of the road on which the vehicle is driving, and the vehicle can be driven according to the preset speed when the type of the road changes, thereby ensuring the safety of the user driving.

[0114] In some embodiments, the method for determining the speed limit information can further include:

[0115] generating prompt information according to the target speed limit information, the prompt information can include a speed limit value;

[0116] outputting the prompt information.

[0117] The prompt information can be used to prompt the user of the speed limit value of the road ahead, and can be output to a human-computer interaction interface by the control device of the vehicle. For example, the control device of the vehicle controls the prompt information to be output to the interface of the display device, controls the display device to display the prompt information, and adjusts the speed of the vehicle based on the speed limit value.

[0118] In the embodiments of the present application, by generating prompt information according to the target speed limit information, the prompt information includes a speed limit value, and the prompt information is output, the driver can be prompted more effectively about the speed limit information, and the driving experience of the user is further improved.

[0119] Figure 3 FIG. 3 is a structural schematic diagram of a speed limit information determination apparatus 300 according to an example embodiment.

[0120] As shown in Figure 3 the speed limit information determination apparatus 300 can include:

[0121] The obtaining module 301 is configured to obtain first speed limit information of a current section on which a vehicle is driving, second speed limit information of the current section in a high-precision map, and third speed limit information of the current section in a navigation map. The first speed limit information is obtained from a road sign image that identifies the current section, and the road sign image includes speed limit information.

[0122] The determining module 302 is configured to determine the first speed limit information as target speed limit information when the first speed limit information includes a speed limit value.

[0123] The determining module 302 is further configured to determine the third speed limit information as the target speed limit information when the first speed limit information does not include a speed limit value and the third speed limit information includes target type speed limit information.

[0124] The determining module 302 is further configured to determine the second speed limit information as the target speed limit information in a case where the first speed limit information does not include a speed limit value and the third speed limit information does not include the target type speed limit information.

[0125] In an embodiment, the speed limit information determining apparatus 300 can further include a sending module.

[0126] The sending module is configured to send the first speed limit information to the control device in a case where the first speed limit information, the second speed limit information and the third speed limit information all include speed limit values, and the speed limit values in the second speed limit information and the third speed limit information are inconsistent, so that the control device adjusts the second speed limit information of the current road segment in the high-precision map to the first speed limit information, and adjusts the third speed limit information of the current road segment in the navigation map to the first speed limit information.

[0127] In an embodiment, the target type speed limit information can include electronic eye speed limit information.

[0128] The obtaining module 301 is further configured to obtain fourth speed limit information of a next road segment on which the vehicle travels in the navigation map, the fourth speed limit information including electronic eye speed limit information and a position of the electronic eye.

[0129] The determining module 302 is further configured to determine the fourth speed limit information as the target speed limit information in a case where a distance between the position of the vehicle and the position of the electronic eye is within a preset distance.

[0130] In an embodiment, the determining module is further configured to determine the second speed limit information as the target speed limit information in a case where a road segment on which the vehicle travels changes, or the first speed limit information includes lifted speed limit information.

[0131] In an embodiment, the speed limit information determining apparatus 300 can further include a driving module.

[0132] The obtaining module 301 is further configured to obtain a speed displayed by an instrument of the vehicle in a case where the navigation assisted driving function is activated.

[0133] The determining module 302 is further configured to determine a larger speed between the target speed limit information and the speed displayed by the instrument as the target speed.

[0134] The driving module is configured to drive based on the target speed.

[0135] In an embodiment, the speed limit information determining apparatus 300 can further include an adjusting module.

[0136] The adjusting module is configured to adjust the target speed to a preset speed in a case where a type of the road segment on which the vehicle travels changes from a first road type to a second road type, the first road type including a main road, and the second road type including a ramp, a deceleration lane or an acceleration lane.

[0137] In an implementation, the speed limit information determining apparatus 300 can further include a generating module and an outputting module.

[0138] The generating module is configured to generate prompt information according to the target speed limit information, the prompt information including a speed limit value.

[0139] The outputting module is configured to output the prompt information.

[0140] Thus, by obtaining the first speed limit information of the current road segment where the vehicle travels, the second speed limit information of the current road segment in the high-precision map, and the third speed limit information of the current road segment in the navigation map, wherein the first speed limit information is obtained from the road sign image of the current road segment, and the road sign image includes the speed limit information, it is convenient to comprehensively check the speed limit information from the three different ways and select more accurate speed limit information. Then, in the case that the first speed limit information includes the speed limit value, the first speed limit information is determined as the target speed limit information; in the case that the first speed limit information does not include the speed limit value and the third speed limit information includes the target type speed limit information, the third speed limit information is determined as the target speed limit information; in the case that the first speed limit information does not include the speed limit value and the third speed limit information does not include the target type speed limit information, the second speed limit information is determined as the target speed limit information. In this way, by arbitrating the speed limit information from multiple ways, the accuracy of the speed limit information can be improved, and thus the accuracy of the vehicle speed adjustment can be improved.

[0141] Figure 4 A hardware structure schematic diagram of an electronic device is shown.

[0142] The electronic device can include a processor 401 and a memory 302 having computer program instructions stored therein.

[0143] Specifically, the processor 401 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0144] The memory 402 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 402 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc (e.g., a compact disc (CD) or a digital versatile disc (DVD)), a solid-state drive (SSD), a USB drive, or a combination of two or more of these. Where appropriate, the memory 402 can include removable or non-removable (or fixed) media. Where appropriate, the memory 402 can be internal or external to the integrated gateway disaster recovery appliance. In particular embodiments, the memory 402 is non-volatile, solid-state memory.

[0145] The memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to

[0146] The processor 401 implements the speed limit information determination method of any one of the above embodiments by reading and executing computer program instructions stored in the memory 402.

[0147] In one example, the electronic device can further include a communication interface 403 and a bus 410. As shown, the processor 401, the memory 402, and the communication interface 403 are connected through the bus 410 and complete communication among each other. Figure 4

[0148] The communication interface 403 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0149] ​Bus 410 includes hardware, software, or both, to couple components of the speed limit information determining device to each other in communication. For example, but not limited to, the bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association local (VLB) bus, or another suitable bus or a combination of two or more of these. Where suitable, bus 410 can include one or more buses. Although particular buses are described and shown in the embodiments of the present application, the present application contemplates any suitable bus or interconnect.

[0150] The electronic device can execute the speed limit information determining method in the embodiments of the present application based on the first speed limit information obtained by acquiring a road sign image of a current road segment on which the vehicle travels, the second speed limit information of the current road segment in a high-definition map, and the third speed limit information of the current road segment in a navigation map, thereby achieving the effects of Figure 1 The speed limit information determining method is described.

[0151] In addition, in combination with the speed limit information determining method in the above embodiments, the embodiments of the present application can provide a computer storage medium to implement. The computer storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to implement any one of the speed limit information determining methods in the above embodiments.

[0152] The embodiments of the present application also provide a vehicle, which includes at least one of the speed limit information determining device, the electronic device, and the computer storage medium described above.

[0153] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between steps, after understanding the spirit of the present application.

[0154] The functions noted in the description of the structural block diagrams above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, and the like. When implemented in software, the elements of the present application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transport information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. The code segments can be downloaded via computer networks such as the Internet, intranets, and the like.

[0155] It is also important to note that the examples mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the steps mentioned above, that is, the steps can be performed in the order mentioned in the examples, or in an order different from the examples, or several steps can be performed simultaneously.

[0156] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing device to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other processing device to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0157] The above merely describes a specific implementation of the present application. Those skilled in the art can clearly understand the specific working processes of the system, modules and units described above for the convenience and brevity of description, and can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method of determining speed limit information, characterized by, The method comprises: obtaining first speed limit information of a current road section on which the vehicle travels, second speed limit information of the current road section in a high-precision map, and third speed limit information of the current road section in a navigation map, the first speed limit information being information obtained by recognizing a road sign image of the current road section, the road sign image comprising speed limit information; in a case where the first speed limit information comprises a speed limit value, determining the first speed limit information as target speed limit information; in a case where the first speed limit information does not comprise a speed limit value and the third speed limit information comprises target type speed limit information, the target type speed limit information comprising electronic eye speed limit information, determining the third speed limit information as the target speed limit information; in a case where the first speed limit information does not comprise a speed limit value and the third speed limit information does not comprise target type speed limit information, determining the second speed limit information as the target speed limit information; The method further comprises: obtaining a vehicle speed displayed on an instrument of the vehicle when a navigation assisted driving function is activated; determining a larger speed between the target speed limit information and the vehicle speed displayed on the instrument as a target vehicle speed; driving based on the target vehicle speed.

2. The method of claim 1, wherein, The method further comprises: in a case where the first speed limit information, the second speed limit information, and the third speed limit information all comprise speed limit values, and the speed limit values in the second speed limit information and the third speed limit information are inconsistent, sending the first speed limit information to a control device for adjusting the second speed limit information of the current road section in the high-precision map to the first speed limit information and adjusting the third speed limit information of the current road section in the navigation map to the first speed limit information.

3. The method of claim 1, wherein, The method further comprises: obtaining fourth speed limit information of a next road section on which the vehicle travels in the navigation map, the fourth speed limit information comprising electronic eye speed limit information and position information of the electronic eye; in a case where a distance between a position of the vehicle and a position of the electronic eye is within a preset distance, determining the fourth speed limit information as the target speed limit information.

4. The method of claim 1, wherein, The method further comprises: in a case where the vehicle travels on a road section changes or the first speed limit information comprises speed removal information, determining the second speed limit information as target speed limit information.

5. The method of claim 1, wherein, The method further comprises: when a type of the road section on which the vehicle travels changes from a first road type to a second road type, adjusting the target vehicle speed to a preset speed, the first road type comprising a main road, and the second road type comprising a ramp, a deceleration lane, or an acceleration lane.

6. The method of claim 1, wherein, The method further comprises: generating prompt information according to the target speed limit information, the prompt information comprising a speed limit value; outputting the prompt information.

7. A speed limit information determination apparatus characterized by comprising: The device comprises: an obtaining module configured to obtain first speed limit information of a current road section on which the vehicle travels, second speed limit information of the current road section in a high-precision map, and third speed limit information of the current road section in a navigation map, the first speed limit information being information obtained by recognizing a road sign image of the current road section, the road sign image comprising speed limit information; a determining module configured to, in a case where the first speed limit information comprises a speed limit value, determine the first speed limit information as target speed limit information; The determining module is further configured to determine the third speed limit information as the target speed limit information in a case where the first speed limit information does not include a speed limit value and the third speed limit information includes target type speed limit information, the target type speed limit information including electronic eye speed limit information. The determining module is further configured to determine the second speed limit information as the target speed limit information in a case where the first speed limit information does not include a speed limit value and the third speed limit information does not include target type speed limit information. The obtaining module is further configured to obtain an instrument display speed of the vehicle when a navigation assisted driving function is activated. The determining module is further configured to determine a larger one of the target speed limit information and the instrument display speed as a target vehicle speed. The driving module is configured to drive based on the target vehicle speed.

8. An electronic device, comprising: The device comprises a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method for determining speed limit information according to any one of claims 1-6.

9. A computer storage medium, characterized in that The computer storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement the method for determining speed limit information according to any one of claims 1-6.

10. A vehicle characterized by comprising: The method comprises at least one of the following: The device for determining speed limit information according to claim 7; The electronic device according to claim 8; The computer storage medium according to claim 9.

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