Methods and devices for controlling vehicle movement based on speed limits

Abstract

This invention discloses a method and apparatus for controlling vehicle movement based on speed limit values. The method includes: when a vehicle is traveling on a road with multiple speed limit signs, acquiring a first minimum speed limit value of a first speed limit sign among the multiple speed limit signs, and a first distance value between the vehicle and the first speed limit sign; in response to the first distance value being less than a preset distance value, determining the first distance value as a target distance value, wherein the preset distance value is the distance between the vehicle and a second speed limit sign among the multiple speed limit signs, the second speed limit sign being positioned in front of the first speed limit sign on the road; based on the first minimum speed limit value and the target distance value, determining the first minimum speed limit value as the target minimum speed limit value; and controlling the vehicle's movement on the road based on the target minimum speed limit value. This invention solves the technical problem of low safety when vehicles travel according to speed limits.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a method and apparatus for controlling vehicle movement based on a speed limit value. Background Technology

[0002] Currently, when vehicles are traveling on highways, a speed limit sign indicates that there are speed limits for both large vehicles and small vehicles. The vehicle's sensors can only identify the speed limit and distance attributes, but cannot accurately identify whether the speed limit applies to small or large vehicles. If the speed limit applies to large vehicles, small vehicles may over-decelerate when slowing down according to this speed limit, which can easily lead to traffic accidents.

[0003] There is currently no effective solution to the problem of low safety when these vehicles are traveling at speed limits. Summary of the Invention

[0004] This invention provides a method and apparatus for controlling vehicle driving based on speed limits, in order to at least solve the technical problem of low safety when a vehicle is driving according to a speed limit.

[0005] According to one aspect of the present invention, a method for controlling vehicle driving based on a speed limit value is provided. The method may include: when the vehicle is driving on a road with multiple speed limit signs, acquiring a first minimum speed limit value of a first speed limit sign among the multiple speed limit signs, and a first distance value between the vehicle and the first speed limit sign; in response to the first distance value being less than a preset distance value, determining the first distance value as a target distance value, wherein the preset distance value is the distance between the vehicle and a second speed limit sign among the multiple speed limit signs, the second speed limit sign being deployed on the road in front of the first speed limit sign; determining the first minimum speed limit value as a target minimum speed limit value based on the first minimum speed limit value and the target distance value; and controlling the vehicle to drive on the road based on the target minimum speed limit value.

[0006] Optionally, when the vehicle is traveling on a road with multiple speed limit signs, before obtaining the first minimum speed limit value and the second minimum speed limit value of the first speed limit sign among the multiple speed limit signs, the method further includes: obtaining the third minimum speed limit value of the second speed limit sign and a second distance value, wherein the second distance value is the distance between the vehicle and the second speed limit sign among the multiple speed limit signs; in response to the second speed limit sign being of the minimum speed limit sign type and the second distance value being less than a preset distance value, determining whether the second speed limit sign is the first speed limit sign among the multiple speed limit signs, wherein the preset distance value is the shortest distance between the vehicle and one of the speed limit signs among the multiple speed limit signs; in response to the second speed limit sign being the first speed limit sign, determining the second distance value as the preset distance value.

[0007] Optionally, before determining the first spacing value as the target spacing value in response to the first spacing value being less than the preset spacing value, the method further includes: in response to the first speed limit sign being of the minimum speed limit type and the first spacing value being less than the preset distance value, determining whether the first speed limit sign is the first speed limit sign; in response to the first speed limit sign not being the first speed limit sign, determining whether the first spacing value is less than the preset spacing value.

[0008] Optionally, determining the first spacing value as the target spacing value in response to the first spacing value being less than the preset spacing value includes: updating the preset spacing value based on the first spacing value when the first spacing value is less than the preset spacing value, and determining the updated preset spacing value as the target spacing value.

[0009] Optionally, determining the first minimum speed limit as the target minimum speed limit based on the first speed limit value and the target distance value includes: obtaining the second minimum speed limit value from the first speed limit sign and the first distance value, wherein the first minimum speed value is greater than the lowest second speed value; in response to the first speed limit sign being of the minimum speed limit type and the first distance value being less than a preset distance value, determining whether the first speed limit sign is the first speed limit sign; in response to the first speed limit sign not being the first speed limit sign, determining whether the first distance value is less than the target distance value; and in response to the first distance value not being less than the target distance value, determining the first minimum speed limit as the target minimum speed limit.

[0010] Optionally, determining the first minimum speed limit as the target minimum speed limit in response to the first spacing value being not less than the target spacing value includes: determining the first minimum speed limit as the target minimum speed limit when the first spacing value is not less than the target spacing value and the difference between the first spacing value and the target spacing value is equal to a preset value, wherein the preset value is used to indicate that the first minimum speed limit and the second minimum speed limit are located in the first speed limit sign.

[0011] According to another aspect of the present invention, an apparatus for controlling vehicle driving based on a speed limit value is also provided, comprising: a first acquisition unit, configured to acquire, when the vehicle is driving on a road with multiple speed limit signs, a first minimum speed limit value of a first speed limit sign among the multiple speed limit signs, and a first distance value between the vehicle and the first speed limit sign; a first determination unit, configured to determine the first distance value as a target distance value in response to the first distance value being less than a preset distance value, wherein the preset distance value is the distance between the vehicle and a second speed limit sign among the multiple speed limit signs, the second speed limit sign being deployed in front of the first speed limit sign on the road; a second determination unit, configured to determine the first minimum speed limit value as a target minimum speed limit value based on the first minimum speed limit value and the target distance value; and a control unit, configured to control the vehicle to drive on the road based on the target minimum speed limit value.

[0012] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the method for controlling vehicle movement based on a speed limit value, as described in the present invention.

[0013] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when running, executes the method for controlling vehicle movement based on a speed limit value, as described in the embodiments of the present invention.

[0014] According to another aspect of the present invention, a vehicle is also provided, which is used to perform the method of controlling vehicle driving based on a speed limit value as claimed in the embodiments of the present invention.

[0015] In this embodiment of the invention, when a vehicle is traveling on a road with multiple speed limit signs, a first minimum speed limit value of the first speed limit sign among the multiple speed limit signs and a first distance value between the vehicle and the first speed limit sign are obtained; in response to the first distance value being less than a preset distance value, the first distance value is determined as a target distance value, wherein the preset distance value is the distance between the vehicle and the second speed limit sign among the multiple speed limit signs, and the second speed limit sign is deployed on the road in front of the first speed limit sign; based on the first minimum speed limit value and the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value; based on the target minimum speed limit value, the vehicle is controlled to travel on the road. In other words, in this embodiment of the invention, when a vehicle is traveling on a road with multiple speed limit signs, the first minimum speed limit value in the first speed limit sign and the distance between the vehicle and the first speed limit sign are obtained. When the distance between the vehicle and the first speed limit sign is less than the distance between the vehicle and the second speed limit sign, the distance between the vehicle and the first speed limit sign is determined as the target distance value. Based on the first minimum speed limit value and the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value. The vehicle is controlled to travel on the road based on the minimum target speed limit value, thereby achieving the purpose of controlling the vehicle to travel according to the speed limit value that suits it in the speed limit sign. This solves the technical problem of low safety when the vehicle is traveling according to the speed limit value and achieves the technical effect of improving the safety of the vehicle when traveling according to the speed limit value. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a method for controlling vehicle driving based on a speed limit value according to an embodiment of the present invention;

[0018] Figure 2This is a schematic diagram of a hardware architecture for controlling vehicle movement based on a speed limit value according to an embodiment of the present invention;

[0019] Figure 3 This is a flowchart of another method for controlling vehicle driving based on a speed limit value according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of a device for controlling vehicle movement based on a speed limit value according to an embodiment of the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] Example 1

[0024] According to an embodiment of the present invention, a method for controlling vehicle driving based on a speed limit value is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a method for controlling vehicle movement based on a speed limit value according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:

[0026] Step S101: When the vehicle is traveling on a road with multiple speed limit signs, obtain the first minimum speed limit value of the first speed limit sign among the multiple speed limit signs, and the first distance value between the vehicle and the first speed limit sign.

[0027] In the technical solution provided in step S101 of the present invention, when a vehicle is driving on a road with multiple speed limit signs and is driving at a fixed position in front of the multiple speed limit signs, the sensing sensor in the vehicle or the electronic map in the vehicle obtains the first minimum speed limit value of the first speed limit sign of the multiple speed limit signs on the road, and the first distance value between the vehicle and the first speed limit sign. The vehicle can be a small vehicle, such as a four-seater private car or a sports car. There are no specific limitations here, but only examples are given. The road can be a highway. The first speed limit sign can mark the first minimum speed limit value, the second minimum speed limit value, the first maximum speed limit value, and the second maximum speed limit value. The first minimum speed limit value and the second minimum speed limit value are different, and the first maximum speed limit value and the second maximum speed limit value are different. It should be noted that the minimum speed limit value can also be replaced with the maximum speed limit value.

[0028] Step S102: In response to the first spacing value being less than a preset spacing value, the first spacing value is determined as the target spacing value, wherein the preset spacing value is the spacing between the vehicle and the second speed limit sign among multiple speed limit signs, and the second speed limit sign is deployed on the road in front of the first speed limit sign.

[0029] In the technical solution provided by step S102 of the present invention, when the first distance value is less than the distance between the vehicle and the second speed limit sign, the first distance value is determined as the target distance value. The preset distance value is the second distance value between the vehicle and the second speed limit sign obtained by the perception sensor in the vehicle or the electronic map in the vehicle when the vehicle is driving at a fixed position in front of multiple speed limit signs. It should be noted that the second distance value is the preset distance value.

[0030] Step S103: Based on the first minimum speed limit value and the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value.

[0031] In the technical solution provided by step S103 of the present invention, when the first minimum speed limit value is the larger of the first minimum speed limit value and the second minimum speed limit value in the first speed limit sign, and the first spacing value is less than the preset spacing value, the first minimum speed limit value is determined as the target minimum speed limit value.

[0032] Step S104: Based on the target minimum speed limit, control the vehicle to travel on the road.

[0033] In the technical solution provided by step S104 of the present invention, the vehicle is made to drive safely on the road at the target minimum speed limit.

[0034] In this embodiment of the invention, steps S101 to S104 described above involve the following steps: when a vehicle is traveling on a road with multiple speed limit signs, a first minimum speed limit value of the first speed limit sign among the multiple speed limit signs is obtained, as well as a first distance value between the vehicle and the first speed limit sign; in response to the first distance value being less than a preset distance value, the first distance value is determined as a target distance value, wherein the preset distance value is the distance between the vehicle and the second speed limit sign among the multiple speed limit signs, and the second speed limit sign is deployed on the road in front of the first speed limit sign; based on the first minimum speed limit value and the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value; and based on the target minimum speed limit value, the vehicle is controlled to travel on the road. In other words, in this embodiment of the invention, when a vehicle is traveling on a road with multiple speed limit signs, the first minimum speed limit value in the first speed limit sign and the distance between the vehicle and the first speed limit sign are obtained. When the distance between the vehicle and the first speed limit sign is less than the distance between the vehicle and the second speed limit sign, the distance between the vehicle and the first speed limit sign is determined as the target distance value. Based on the first minimum speed limit value and the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value. The vehicle is controlled to travel on the road based on the minimum target speed limit value, thereby achieving the purpose of controlling the vehicle to travel according to the speed limit value that suits it in the speed limit sign. This solves the technical problem of low safety when the vehicle is traveling according to the speed limit value and achieves the technical effect of improving the safety of the vehicle when traveling according to the speed limit value.

[0035] The method described in this embodiment will be further described below.

[0036] As an optional embodiment, when a vehicle is traveling on a road with multiple speed limit signs, before obtaining the first minimum speed limit value and the second minimum speed limit value of the first speed limit sign among the multiple speed limit signs, the method further includes: obtaining the third minimum speed limit value of the second speed limit sign and a second distance value, wherein the second distance value is the distance between the vehicle and the second speed limit sign among the multiple speed limit signs; in response to the second speed limit sign being of the minimum speed limit sign type and the second distance value being less than a preset distance value, determining whether the second speed limit sign is the first speed limit sign among the multiple speed limit signs, wherein the preset distance value is the shortest distance between the vehicle and one of the speed limit signs among the multiple speed limit signs; in response to the second speed limit sign being the first speed limit sign, determining the second distance value as the preset distance value.

[0037] In this embodiment, when the vehicle is traveling at a fixed position in front of multiple speed limit signs, the vehicle's sensing sensors or electronic map acquire the third minimum speed limit value of the second speed limit sign and the second distance value between the vehicle and the second speed limit sign. When the type of the second speed limit sign with the third minimum speed limit value is the minimum speed limit sign type, and when the second distance value is less than a preset distance value and the second speed limit sign is the first speed limit sign, the second distance value in the second speed limit sign is determined as the preset distance value. The preset distance value can be 500 meters, which is only an example and is not specifically limited.

[0038] For example, when a vehicle is 2000 meters ahead of multiple speed limit signs, the vehicle's sensing sensors or electronic map obtain the third minimum speed limit value of the second speed limit sign and the second distance value between the vehicle and the second speed limit sign. The third minimum speed limit value is 60 kilometers per hour, and the second distance value between the vehicle and the second speed limit sign is 700 meters. When the type of the second speed limit sign with the third minimum speed limit value is the minimum speed limit sign type, it is determined whether the second distance value is less than a preset distance value, for example, 500 meters. When the second distance value is less than the preset distance value, it is determined whether the second speed limit sign is the first speed limit sign among multiple speed limit signs. When the second speed limit sign is the first speed limit sign among multiple speed limit signs, the second distance value is determined as the preset distance value.

[0039] As an optional embodiment, before determining the first spacing value as the target spacing value in response to the first spacing value being less than a preset spacing value, the method further includes: in response to the first speed limit sign being of the minimum speed limit type and the first spacing value being less than a preset distance value, determining whether the first speed limit sign is the first speed limit sign; and in response to the first speed limit sign not being the first speed limit sign, determining whether the first spacing value is less than a preset spacing value.

[0040] In this embodiment, when the type of the first speed limit sign with the first minimum speed limit value is the minimum speed limit sign type and the first spacing value is less than the preset distance value, it is determined whether the first speed limit sign is the first speed limit sign. When the first speed limit sign is not the first speed limit sign among multiple speed limit signs, it is determined whether the first spacing value is less than the preset spacing value.

[0041] For example, when the type of the first speed limit sign with the first minimum speed limit value is the minimum speed limit sign type, when the first spacing value is 600 meters, if the first spacing value of 600 meters is less than the preset distance value of 500 meters, it is determined whether the first speed limit sign is the first speed limit sign. If the first speed limit sign is not the first speed limit sign among multiple speed limit signs, it is determined whether the first spacing value is less than the preset spacing value.

[0042] As an optional embodiment, step 102, in response to the first spacing value being less than a preset spacing value, determines the first spacing value as the target spacing value, including: in response to the first spacing value being less than the preset spacing value, updating the preset spacing value based on the first spacing value, and determining the updated preset spacing value as the target spacing value.

[0043] In this embodiment, when the first spacing value is less than the preset spacing value, the preset spacing value is updated according to the first spacing value, and the updated preset spacing value is the target spacing value.

[0044] For example, when the first spacing value of 600 meters is less than the preset spacing value of 700 meters, the preset spacing value of 700 meters is updated based on the first spacing value of 600 meters, and the updated preset spacing value of 600 meters is determined as the target spacing value.

[0045] As an optional embodiment, step 103, determining the first minimum speed limit as the target minimum speed limit based on the first speed limit value and the target distance value, includes: obtaining the second minimum speed limit value from the first speed limit sign and the first distance value, wherein the first minimum speed value is greater than the lowest second speed value; in response to the first speed limit sign being of the minimum speed limit type and the first distance value being less than a preset distance value, determining whether the first speed limit sign is the first speed limit sign; in response to the first speed limit sign not being the first speed limit sign, determining whether the first distance value is less than the target distance value; in response to the first distance value not being less than the target distance value, determining the first minimum speed limit as the target minimum speed limit.

[0046] In this embodiment, when the vehicle is traveling at a fixed position in front of multiple speed limit signs, the vehicle's sensing sensors or electronic map acquire the second minimum speed limit value of the first speed limit sign and the first distance value between the vehicle and the first speed limit sign. The first minimum speed limit value is 80 km / h, and the second minimum speed limit value is 70 km / h. When the type of the first speed limit sign with the second minimum speed limit value is the minimum speed limit type, and the first distance value is less than a preset distance value, it is determined whether the first speed limit sign is the first speed limit sign. When the first speed limit sign is not the first speed limit sign, it is determined whether the first distance value is less than a target distance value. When the first distance value is not less than the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value.

[0047] For example, when a vehicle is traveling 2000 meters ahead of multiple speed limit signs, the vehicle's sensing sensors or electronic map obtain the second minimum speed limit value of 70 km / h for the first speed limit sign and the first distance between the vehicle and the first speed limit sign as 600 meters. When the type of the first speed limit sign with the second minimum speed limit value is the minimum speed limit type, and the first distance value of 600 meters is less than the preset distance value of 500 meters, it is determined whether the first speed limit sign is the first speed limit sign. When the first speed limit sign is not the first speed limit sign, it is determined whether the first distance value is less than the target distance value. When the first distance value of 600 meters is equal to the target distance value of 600 meters, the first minimum speed limit value of 80 km / h is determined as the target minimum speed limit value.

[0048] As an optional embodiment, determining a first minimum speed limit as a target minimum speed limit in response to a first spacing value not being less than a target spacing value includes: determining a first minimum speed limit as a target minimum speed limit in response to a first spacing value not being less than a target spacing value and the difference between the first spacing value and the target spacing value being equal to a preset value, wherein the preset value is used to indicate that the first minimum speed limit and the second minimum speed limit are located in the first speed limit sign.

[0049] In this embodiment, when the first spacing value is equal to the target spacing value, that is, when the difference between the first spacing value and the target spacing value is zero, the first minimum speed limit value is determined as the target minimum speed limit value.

[0050] For example, when the first distance value of 600 meters is equal to the target distance value of 600 meters, and the difference between the first distance value of 600 meters and the target distance value of 600 meters is zero, the first minimum speed limit value of 80 kilometers per hour is determined as the target minimum speed limit value.

[0051] In this embodiment, the third minimum speed limit value in the second speed limit sign and the second distance value between the vehicle and the second speed limit sign are obtained. When the type of the second speed limit sign is the minimum speed limit sign type, and the second distance value is less than the shortest distance between the vehicle and one of the multiple speed limit signs, it is determined whether the second speed limit sign is the first speed limit sign among the multiple speed limit signs. If the second speed limit sign is the first speed limit sign, the second distance value is determined as the preset distance value. When the first speed limit sign is of the minimum speed limit type and the first spacing value is less than the preset distance value, it is determined whether the first speed limit sign is the first speed limit sign. When the first speed limit sign is not the first speed limit sign, it is determined whether the first spacing value is less than the preset spacing value. When the first spacing value is less than the preset spacing value, the preset spacing value is updated according to the first spacing value, and the updated preset spacing value is determined as the target spacing value. The second minimum speed limit value in the first speed limit sign and the first spacing value are obtained, wherein the first minimum speed value is greater than the minimum second speed value. When the first speed limit sign is of the minimum speed limit type and the first spacing value is less than the preset distance value, it is determined whether the first speed limit sign is the first speed limit sign. When the first spacing value is not less than the target spacing value and the difference between the first spacing value and the target spacing value is equal to the preset value, the first minimum speed limit value is determined as the target minimum speed limit value. When the first spacing value is not less than the target spacing value, the first minimum speed limit value is determined as the target minimum speed limit value. This solves the technical problem of low safety when vehicles are driving according to speed limits and achieves the technical effect of improving the safety of vehicles driving according to speed limits.

[0052] Example 2

[0053] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0054] Currently, with the development of intelligent vehicles, autonomous driving technology is being applied more and more widely. For autonomous vehicles, timely identification of speed limits on the road ahead is crucial. Accurate and timely identification of speed limits allows autonomous vehicles to slow down or accelerate in advance, thus avoiding violations or dangerous situations. Speed ​​limits, as the front-end input to the decision-making and planning end of the autonomous driving system, mainly come from two sources: recognition through perception cameras or recognition through high-precision maps. However, regardless of whether the speed limit is perceived or displayed through maps, it only has two attributes: distance and the numerical speed limit, lacking other attributes. This leads to a problem: on highways, a single speed limit sign may display both speed limits for large vehicles and speed limits for small vehicles.

[0055] Therefore, in a related technology, a vehicle cruise control method, device, vehicle, and storage medium have been proposed. The method includes: when the vehicle engages autonomous driving, acquiring the speed limit zone along the driving path in advance, and adjusting the vehicle speed in advance based on the speed limit value of the zone and the vehicle's current speed. When conditions are met, the vehicle speed is adjusted to ensure that the vehicle's speed does not exceed the speed limit value when entering the speed limit zone. This effectively avoids speeding violations and traffic accidents. However, this method focuses on the speed limit control strategy after obtaining the speed limit value, without clearly explaining how to obtain the speed limit value, especially when different speed limits exist for different types of vehicles on the same speed limit sign.

[0056] In another related technology, a method, apparatus, device, medium, and vehicle for providing a vehicle driving strategy are proposed. The method first obtains a first maximum speed limit for a first road segment in which the vehicle travels, and then obtains a second maximum speed limit for a second road segment continuous with the first road segment, wherein the second maximum speed limit differs from the first maximum speed limit. Based on the first and second maximum speed limits, a speed limit adjustment strategy for the vehicle is determined.

[0057] In another related technology, a method and device for controlling vehicle speed limits are proposed. This method first obtains the target speed limit data of the road where the vehicle is currently located from high-precision map data, then obtains the vehicle's current driving data, and finally adjusts the vehicle's speed based on the target speed limit data and the current driving data. This method mentions the idea of ​​numerically comparing a first speed limit data with a second speed limit data.

[0058] To overcome the above problems, this invention proposes a hardware architecture diagram for controlling vehicle movement based on speed limits, as shown in the figure below. Figure 2 As shown, Figure 2This is a schematic diagram of a hardware architecture for controlling vehicle movement based on speed limits. The hardware architecture includes a map box module 201, an advanced automated driving controller module 202, and an actuator module 203. The map box module 201 includes a positioning algorithm module 2011, a map module 2012, and an electronic horizon (EHR) algorithm module 2013. The EHR module 202 includes a perception algorithm module 2021, an EHR reconstruction algorithm module 2022, a decision-making module 2023, a planning module 2024, and a control module 2025. For autonomous vehicles, the map box module 201 (i.e., the high-precision map controller) and the EHR module 202 consist of two hardware components and their corresponding functional software. The map box module should achieve real-time high-precision positioning of the vehicle through algorithms such as the Global Navigation Satellite System (GNSS), inertial measurement unit (INS), and dynamic real-time classification, while storing high-precision map data. It then broadcasts map elements through the EHR algorithm module 2013 and transmits the data to the EHR module 202. The Advanced Automated Driving Controller (ADAS) module 202 runs the Perception Algorithm Module 2021, the Electronic Horizon Reconstruction Algorithm Module 2022, and the Autonomous Driving System Decision Module 2023, Planning Module 2024, and Control Module 2025. The Electronic Horizon Reconstruction Algorithm Module 2021 receives high-precision map data broadcast by the Electronic Horizon Algorithm Module 2013 and transforms the high-precision map elements to the vehicle coordinate system for use by the decision module. The map box and the ADAS communicate via a high-speed controller area network and an in-vehicle Ethernet network.

[0059] Secondly, this invention proposes a method for controlling vehicle movement based on speed limits. Figure 3 This is a flowchart of another method for controlling vehicle movement based on a speed limit value, according to an embodiment of the invention. Figure 3 As shown, the method may include the following steps:

[0060] Step 301: Initialize the calibration quantity.

[0061] The initialization definition is defined for the calibrated values ​​involved in the algorithm. The initialization definition may include a threshold for judging the speed limit sign. Considering the limited computing power of the autonomous driving system chip, only speed limit signs with a distance less than the threshold are included in the judgment loop, thereby saving computing power. It may also include a calibrated value that is compared with the difference between the distance of the speed limit sign in the current loop and the pre-stored temporary distance. It is generally set to zero by default and is used to judge whether two speed limit values ​​are on the same speed limit sign. The minimum speed limit value is similar to the maximum speed limit value.

[0062] Step 302: Obtain the sequence number of the speed limit value.

[0063] Starting from the first speed limit and continuing to the last speed limit, a for loop is used here. The first minimum speed limit is labeled as 1, and the last minimum speed limit is labeled as 10.

[0064] Step 303: Determine whether the speed limit sign type is the minimum speed limit type.

[0065] Determine if the speed limit sign with the minimum speed limit value is of the minimum speed limit type, replace the minimum speed limit value with the maximum speed limit value, and determine if the speed limit sign with the maximum speed limit value is of the maximum speed limit type.

[0066] Step 304: Determine whether the distance to the speed limit sign is less than the marked amount of the nearest speed limit sign.

[0067] Determine if the distance between the vehicle and the speed limit sign with the minimum speed limit is less than the indicated amount of the nearest speed limit sign. Replace the minimum speed limit with the maximum speed limit and determine if the distance between the vehicle and the speed limit sign with the maximum speed limit is less than the indicated amount of the nearest speed limit sign. If so, proceed to step 305.

[0068] Step 305: Determine whether the speed limit sign is the first speed limit sign in the loop.

[0069] Determine if the speed limit sign with the minimum speed limit value is the first speed limit sign in the loop, replace the minimum speed limit value with the maximum speed limit value, and determine if the speed limit sign with the maximum speed limit value is the first speed limit sign in the loop. If yes, proceed to step 306; otherwise, proceed to step 309.

[0070] Step 306: Assign the speed limit value, distance, and number of the speed limit sign to the temporary quantity.

[0071] Step 307: Determine if the speed limit value number is 10.

[0072] Step 308: The speed limit value number is incremented by 1 until the number is 10.

[0073] Step 309: Determine whether the distance to the speed limit sign is less than the temporary distance.

[0074] If the distance to the speed limit sign is less than the temporary distance measured in step 306, proceed to step 310; if the distance to the speed limit sign is less than the temporary distance measured in step 306, proceed to step 311.

[0075] Step 310: Assign the speed limit value, distance, and number of the speed limit sign to the temporary quantity.

[0076] Update the temporary value in step 306.

[0077] Step 311: Determine whether the absolute value of the difference between the speed limit sign distance and the temporary distance is equal to the standard distance.

[0078] Then execute steps 302 to 309, take the next speed limit value that is not the first speed limit sign, and if the distance of the speed limit sign is equal to the second temporary distance in step 306, take the absolute value of the difference between the distance of the speed limit sign and the second temporary distance, which is equal to the standard value, where the standard value is zero.

[0079] Step 312: Determine whether the speed limit value of the speed limit sign is greater than the updated temporary speed limit value.

[0080] When taking the next speed limit value that is not the first speed limit sign, if the speed limit value of the speed limit sign is greater than the speed limit value of the updated temporary amount, the updated temporary amount is the second temporary amount, and the process jumps to step 313.

[0081] Step 313: Assign the speed limit value, distance, and number of the speed limit sign to the temporary quantity.

[0082] Update the temporary quantity in step 306.

[0083] In this embodiment, after initializing and defining the relevant calibrated quantities, it is determined whether the speed limit sign type is the minimum speed limit. If it is the minimum speed limit sign, it is then determined whether the distance of the speed limit sign is less than the threshold for judging nearby speed limit signs. If it is less, it is then determined whether the current speed limit sign is the first speed limit sign. If it is, the speed limit value, distance, and number of the speed limit sign are directly assigned to the predefined temporary values ​​of speed limit value, distance, and number. If it is not the first speed limit sign, it is necessary to determine the relationship between the distance of the speed limit sign and the temporary distance value. If the distance of the speed limit sign is less than the temporary distance value, it means that the speed limit sign is closer, so the speed limit value, distance, and number of the speed limit sign are assigned to the temporary values. If the distance to the speed limit sign is not less than the temporary distance, then the difference between the two is calculated and the absolute value is taken. This absolute value is then compared to the standard speed limit. If the absolute value of the difference equals the standard speed limit, the two speed limits are considered to be on the same speed limit sign. In this case, the relationship between the speed limit on the sign and the temporary speed limit is determined. Considering that speed limits for small passenger vehicles are generally higher, the higher speed limit is assigned to the temporary speed limit. After the above iterative process is completed, the temporary speed limit, temporary distance, and temporary number are output to the decision module for further processing. This solves the technical problem of low safety when vehicles are traveling according to speed limits, achieving the technical effect of improving vehicle safety when traveling according to speed limits.

[0084] Example 3

[0085] According to an embodiment of the present invention, a device for controlling vehicle movement based on a speed limit value is also provided. It should be noted that this device for controlling vehicle movement based on a speed limit value can be used to execute the method for controlling vehicle movement based on a speed limit value in Embodiment 1.

[0086] Figure 4 This is a schematic diagram of a device for controlling vehicle movement based on a speed limit value according to an embodiment of the present invention. Figure 4 As shown, the device 400 for controlling vehicle movement based on speed limit values ​​may include: a first acquisition unit 401, a first determination unit 402, a first determination unit 403, and a control unit 404.

[0087] The first acquisition unit 401 is used to acquire, when a vehicle is traveling on a road with multiple speed limit signs, the first minimum speed limit value of the first speed limit sign among the multiple speed limit signs, and the first distance value between the vehicle and the first speed limit sign.

[0088] The first determining unit 402 is configured to determine the first spacing value as the target spacing value in response to the first spacing value being less than the preset spacing value, wherein the preset spacing value is the spacing between the vehicle and the second speed limit sign among a plurality of speed limit signs, and the second speed limit sign is deployed on the road in front of the first speed limit sign.

[0089] The second determining unit 403 is used to determine the first minimum speed limit as the target minimum speed limit based on the first minimum speed limit and the target distance value.

[0090] Control unit 404 is used to control the vehicle's movement on the road based on a target minimum speed limit.

[0091] Optionally, the second acquisition unit is configured to, when the vehicle is traveling on a road with multiple speed limit signs, acquire a third minimum speed limit value and a second distance value for the second speed limit sign before acquiring the first minimum speed limit value and the second minimum speed limit value for the first speed limit sign among the multiple speed limit signs, wherein the second distance value is the distance between the vehicle and the second speed limit sign among the multiple speed limit signs; the first judgment unit is configured to, in response to the second speed limit sign being of the minimum speed limit sign type and the second distance value being less than a preset distance value, determine whether the second speed limit sign is the first speed limit sign among the multiple speed limit signs, wherein the preset distance value is the shortest distance between the vehicle and one of the multiple speed limit signs; the third determination unit is configured to, in response to the second speed limit sign being the first speed limit sign, determine the second distance value as the preset distance value.

[0092] Optionally, the second judgment unit is used to determine whether the first speed limit sign is the first speed limit sign before determining the first distance value as the target distance value in response to the first distance value being less than the preset distance value; and the third judgment unit is used to determine whether the first distance value is less than the preset distance value in response to the first speed limit sign being of the minimum speed limit type.

[0093] Optionally, the first determining unit 402 may include: a processing module, configured to update the preset spacing value based on the first spacing value in response to the first spacing value being less than the preset spacing value, and determine the updated preset spacing value as the target spacing value.

[0094] Optionally, the second determining unit 403 may include: an acquisition module, configured to acquire a second minimum speed limit value and a first spacing value from the first speed limit sign, wherein the first minimum speed value is greater than the minimum second speed value; a first judging module, configured to judge whether the first speed limit sign is the first speed limit sign when the type of the first speed limit sign is the minimum speed limit type and the first spacing value is less than a preset distance value; a second judging module, configured to judge whether the first spacing value is less than a target spacing value when the first speed limit sign is not the first speed limit sign; and a determining module, configured to determine the first minimum speed limit value as the target minimum speed limit value when the first spacing value is not less than the target spacing value.

[0095] Optionally, the determining module may include: a determining submodule, configured to determine the first minimum speed limit as the target minimum speed limit in response to a first spacing value not being less than the target spacing value and the difference between the first spacing value and the target spacing value being equal to a preset value, wherein the preset value is used to indicate that the first minimum speed limit and the second minimum speed limit are located in the first speed limit sign.

[0096] In this embodiment, a first acquisition unit is used to acquire, when the vehicle is traveling on a road with multiple speed limit signs, a first minimum speed limit value of the first speed limit sign among the multiple speed limit signs, and a first distance value between the vehicle and the first speed limit sign; a first determination unit is used to determine the first distance value as a target distance value in response to the first distance value being less than a preset distance value, wherein the preset distance value is the distance between the vehicle and a second speed limit sign among the multiple speed limit signs, and the second speed limit sign is deployed in front of the first speed limit sign on the road; a second determination unit is used to determine the first minimum speed limit value as the target minimum speed limit value based on the first minimum speed limit value and the target distance value; and a control unit is used to control the vehicle to travel on the road based on the target minimum speed limit value, thereby solving the technical problem of low safety when the vehicle is traveling according to the speed limit value and achieving the technical effect of improving the safety of the vehicle when traveling according to the speed limit value.

[0097] Example 4

[0098] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the method for controlling vehicle driving based on a speed limit value in Embodiment 1.

[0099] Example 5

[0100] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes the method for controlling vehicle driving based on a speed limit value in Embodiment 1.

[0101] Example 6

[0102] According to an embodiment of the present invention, a vehicle is also provided for performing the method of controlling vehicle driving based on a speed limit value in Embodiment 1.

[0103] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0104] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0106] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0107] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0108] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0109] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling vehicle movement based on speed limits, characterized in that, include: When a vehicle is traveling on a road with multiple speed limit signs, the first minimum speed limit value of the first speed limit sign among the multiple speed limit signs is obtained, as well as the first distance value between the vehicle and the first speed limit sign. In response to the first spacing value being less than a preset spacing value, the first spacing value is determined as a target spacing value, wherein the preset spacing value is the spacing between the vehicle and the second speed limit sign among the plurality of speed limit signs, and the second speed limit sign is deployed on the road in front of the first speed limit sign; Based on the first minimum speed limit value and the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value; Based on the target minimum speed limit, the vehicle is controlled to travel on the road; Before obtaining the first minimum speed limit value and the second minimum speed limit value among the first speed limit signs when the vehicle is traveling on a road with multiple speed limit signs, the method further includes: obtaining a third minimum speed limit value among the second speed limit signs and a second distance value, wherein the second distance value is the distance between the vehicle and the second speed limit sign among the multiple speed limit signs; in response to the second speed limit sign being of the minimum speed limit sign type and the second distance value being less than a preset distance value, determining whether the second speed limit sign is the first speed limit sign among the multiple speed limit signs, wherein the preset distance value is the shortest distance between the vehicle and one of the multiple speed limit signs; in response to the second speed limit sign being the first speed limit sign, determining the second distance value as the preset distance value.

2. The method according to claim 1, characterized in that, Before determining the first spacing value as the target spacing value in response to the first spacing value being less than a preset spacing value, the method further includes: In response to the first speed limit sign being of the minimum speed limit type and the first spacing value being less than the preset distance value, it is determined whether the first speed limit sign is the first speed limit sign; In response to the first speed limit sign not being the first speed limit sign, it is determined whether the first spacing value is less than the preset spacing value.

3. The method according to claim 1, characterized in that, In response to the first spacing value being less than a preset spacing value, determining the first spacing value as the target spacing value includes: When the first spacing value is less than the preset spacing value, the preset spacing value is updated based on the first spacing value, and the updated preset spacing value is determined as the target spacing value.

4. The method according to claim 1, characterized in that, Based on the first speed limit value and the target distance value, the first minimum speed limit value is determined as the target minimum speed limit value, including: Obtain the second minimum speed limit value from the first speed limit sign and the first spacing value, wherein the first minimum speed value is greater than the minimum second speed value; In response to the first speed limit sign being of the minimum speed limit type and the first spacing value being less than a preset distance value, it is determined whether the first speed limit sign is the first speed limit sign; In response to the first speed limit sign not being the first speed limit sign, determine whether the first spacing value is less than the target spacing value; In response to the first spacing value being not less than the target spacing value, the first minimum speed limit value is determined as the target minimum speed limit value.

5. The method according to claim 4, characterized in that, In response to the first distance value being not less than the target distance value, determining the first minimum speed limit value as the target minimum speed limit value includes: In response to the first spacing value being not less than the target spacing value, and the difference between the first spacing value and the target spacing value being equal to a preset value, the first minimum speed limit value is determined as the target minimum speed limit value, wherein the preset value is used to indicate that the first minimum speed limit value and the second minimum speed limit value are located in the first speed limit sign.

6. A device for controlling vehicle movement based on a speed limit, characterized in that, include: The first acquisition unit is used to acquire, when a vehicle is driving on a road with multiple speed limit signs, the first minimum speed limit value of the first speed limit sign among the multiple speed limit signs, and the first distance value between the vehicle and the first speed limit sign. A first determining unit is configured to determine the first distance value as a target distance value in response to the first distance value being less than a preset distance value, wherein the preset distance value is the distance between the vehicle and a second speed limit sign among the plurality of speed limit signs, and the second speed limit sign is deployed on the road in front of the first speed limit sign; The second determining unit is used to determine the first minimum speed limit as the target minimum speed limit based on the first minimum speed limit and the target distance value; A control unit is used to control the vehicle to travel on the road based on the target minimum speed limit. Before acquiring the first minimum speed limit value and the second minimum speed limit value of the first speed limit sign among the multiple speed limit signs when the vehicle is traveling on a road with multiple speed limit signs, the device is further configured to perform the following steps: acquiring the third minimum speed limit value of the second speed limit sign and the second distance value, wherein the second distance value is the distance between the vehicle and the second speed limit sign among the multiple speed limit signs; in response to the second speed limit sign being of the minimum speed limit sign type and the second distance value being less than a preset distance value, determining whether the second speed limit sign is the first speed limit sign among the multiple speed limit signs, wherein the preset distance value is the shortest distance between the vehicle and one of the multiple speed limit signs; in response to the second speed limit sign being the first speed limit sign, determining the second distance value as the preset distance value.

7. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 5 when it runs.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 5.

9. A vehicle, characterized in that, The vehicle is used to perform the method according to any one of claims 1 to 5.

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