A vehicle speed adjustment method, device, equipment and computer-readable storage medium

Abstract

An embodiment of the present application discloses a vehicle speed adjustment method, device, equipment, and computer-readable storage medium, which obtains road basic information; the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane. According to the driving speed of vehicles on the lane, the average traffic flow speed is determined. According to the lane information, traffic sign information, average traffic flow speed, and the vehicle speed change of the vehicle itself, the restricted speed is determined. Based on the set weight distribution rule, the average traffic flow speed, restricted speed, and initial cruise speed are processed to obtain the adjusted cruise speed, and the vehicle can drive at the adjusted cruise speed. By comprehensively considering the actual driving speed of other vehicles on the lane except the vehicle itself, and adjusting the initial cruise speed according to the road conditions and vehicle speed to determine the restricted speed, a cruise speed that more conforms to the actual road conditions can be obtained, making the adjustment of the vehicle speed more reasonable and intelligent.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and particularly to a vehicle speed adjustment method, device, equipment, and computer-readable storage medium. Background Art

[0002] With the improvement of intelligent sensor technology and driving assistance technology, more and more vehicles are beginning to be equipped with intelligent sensors and driving assistance functions for the second stage of autonomous driving (Level 2). The adaptive cruise function and lane keeping function at Level 2 will perform cruise control, following vehicle control, curve cruise control, lane departure suppression, lane centering and other functions according to the vehicle targets recognized by the intelligent front view camera and the relevant information of the lane lines in the current lane.

[0003] During the autonomous driving process of a vehicle, it usually travels at a set cruise speed. Considering that there may be speed limit signs on different sections of the road, the vehicle will dynamically adjust the cruise speed by combining the speed limit signs collected by the front view camera during the autonomous driving stage. In the actual driving stage, the cruise speeds that different types of roads can support vary. The vehicle driving speed determined based on the fixed cruise speed and speed limit signs may not conform to the actual situation of the current road. And some speed limit signs may not be updated in a timely manner, which may even mislead the adjustment of the vehicle's cruise speed.

[0004] It can be seen that how to adjust the vehicle speed more reasonably and intelligently is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of the embodiments of this application is to provide a vehicle speed adjustment method, device, equipment, and computer-readable storage medium, which can adjust the vehicle speed more reasonably and intelligently.

[0006] To solve the above technical problems, the embodiments of this application provide a vehicle speed adjustment method, including:

[0007] Obtain road basic information; wherein, the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane;

[0008] Determine the average vehicle flow speed based on the driving speed of vehicles on the lane;

[0009] Determine the restricted speed according to the lane information, the traffic sign information, the average vehicle flow speed, and the speed change of the vehicle itself;

[0010] Process the average vehicle flow speed, the restricted speed, and the initial cruise speed based on a set weight distribution rule to obtain the adjusted cruise speed.

[0011] Optionally, determining the average vehicle flow speed based on the vehicle driving speed on the lane includes:

[0012] Based on the vehicle driving speed on the lane, count the number of target vehicles driving in the same direction as the own vehicle within a set distance range and speed range;

[0013] When the number of the target vehicles is greater than or equal to the set vehicle threshold, use the average value of the vehicle driving speeds of the target vehicles as the average vehicle flow speed;

[0014] When the number of the target vehicles is less than the set vehicle threshold, mark the average vehicle flow speed as an invalid speed.

[0015] Optionally, determining the restricted speed according to the lane information, the traffic sign information, the average vehicle flow speed, and the vehicle speed change of the own vehicle includes:

[0016] According to the change situation of the lane information during the driving of the own vehicle, judge whether there is a ramp on the road where the own vehicle is currently located;

[0017] When there is a ramp on the road where the own vehicle is currently located, determine the restricted speed based on the traffic sign information and the vehicle speed change of the own vehicle;

[0018] When there is no ramp on the road where the own vehicle is currently located, determine the restricted speed based on the traffic sign information, the average vehicle flow speed, and the vehicle speed change of the own vehicle.

[0019] Optionally, when there is a ramp on the road where the own vehicle is currently located, determining the restricted speed based on the traffic sign information and the vehicle speed change of the own vehicle includes:

[0020] When there is a ramp on the road where the own vehicle is currently located, judge whether the traffic sign information includes a speed limit value;

[0021] When the traffic sign information does not include a speed limit value, mark the restricted speed as an invalid speed;

[0022] When the traffic sign information includes a speed limit value, judge whether the speed limit value is within the speed limit range corresponding to the unstructured road;

[0023] When the speed limit value is within the speed limit range corresponding to the unstructured road, use the speed limit value as the restricted speed;

[0024] When the speed limit value is not within the speed limit range corresponding to the unstructured road, mark the speed limit value as an invalid speed.

[0025] Optionally, when there is no ramp on the road where the host vehicle is currently located, determining the restricted speed based on the traffic sign information, the average vehicle flow speed, and the speed change of the host vehicle includes:

[0026] When there is no ramp on the road where the host vehicle is currently located, determine whether the traffic sign information contains a speed limit value;

[0027] When the traffic sign information does not contain a speed limit value, mark the restricted speed as an invalid speed;

[0028] When the traffic sign information contains a speed limit value, determine the current road type based on the speed limit value, the average vehicle flow speed, and the speed change of the host vehicle;

[0029] Determine whether the speed limit value is within the speed limit range corresponding to the current road type;

[0030] When the speed limit value is within the speed limit range corresponding to the current road type, use the speed limit value as the restricted speed;

[0031] When the speed limit value is not within the speed limit range corresponding to the current road type, mark the restricted speed as an invalid speed.

[0032] Optionally, processing the average vehicle flow speed, the restricted speed, and the initial cruise speed based on a set weight distribution rule to obtain an adjusted cruise speed includes:

[0033] Determine whether the average vehicle flow speed and the restricted speed are invalid speeds;

[0034] When both the average vehicle flow speed and the restricted speed are invalid speeds, use the initial cruise speed as the adjusted cruise speed;

[0035] When the average vehicle flow speed is not an invalid speed and the restricted speed is an invalid speed, calculate a first difference between the initial cruise speed and the average vehicle flow speed; based on the first difference and a set first threshold, determine the respective weights of the initial cruise speed and the average vehicle flow speed; perform weighted summation on the initial cruise speed and the average vehicle flow speed according to the weights to obtain the adjusted cruise speed;

[0036] When both the average vehicle flow speed and the limit speed are not invalid speeds, calculate a second difference between the limit speed and the average vehicle flow speed; based on the second difference and a set second threshold, determine the respective weights of the limit speed and the average vehicle flow speed; and perform a weighted sum of the limit speed and the average vehicle flow speed according to the weights to obtain an adjusted cruise speed.

[0037] When the average vehicle flow speed is an invalid speed and the limit speed is not an invalid speed, use the limit speed as the adjusted cruise speed.

[0038] Optionally, after obtaining the adjusted cruise speed, it further includes:

[0039] Determine whether the adjusted cruise speed is within the cruise range corresponding to the current road type;

[0040] When the adjusted cruise speed is within the cruise range corresponding to the current road type, use the adjusted cruise speed as the final cruise speed;

[0041] When the adjusted cruise speed is not within the cruise range corresponding to the current road type, determine the final cruise speed according to the deviation between the adjusted cruise speed and the cruise range.

[0042] Optionally, after obtaining the adjusted cruise speed, it further includes:

[0043] Determine whether the number of driver interventions within a cycle time is greater than or equal to a set threshold;

[0044] When the number of driver interventions within the cycle time is less than the set threshold, for each detected driver intervention behavior within the cycle time, increment the number of interventions by one;

[0045] When the number of driver interventions within the cycle time is greater than or equal to the set threshold, switch the automatic driving mode to the manual driving mode.

[0046] An embodiment of the present application further provides a vehicle speed adjustment device, including an acquisition unit, a first determination unit, a second determination unit, and an adjustment unit;

[0047] The acquisition unit is configured to acquire road basic information; wherein, the road basic information includes lane information, traffic sign information, and vehicle driving speeds on the lane;

[0048] The first determination unit is configured to determine the average vehicle flow speed according to the vehicle driving speeds on the lane;

[0049] The second determination unit is configured to determine a restricted speed according to the lane information, the traffic sign information, the average vehicle flow speed, and the vehicle speed change of the host vehicle.

[0050] The adjustment unit is configured to process the average vehicle flow speed, the restricted speed, and the initial cruise speed based on a set weight distribution rule to obtain an adjusted cruise speed.

[0051] Optionally, the first determination unit includes a statistics subunit, a determination subunit, and a marking subunit;

[0052] The statistics subunit is configured to count the number of target vehicles traveling in the same direction as the host vehicle within a set distance range and speed range based on the vehicle speeds of the vehicles on the lane.

[0053] The determination subunit is configured to use the average value of the vehicle speeds of the target vehicles as the average vehicle flow speed when the number of the target vehicles is greater than or equal to a set vehicle threshold.

[0054] The marking subunit is configured to mark the average vehicle flow speed as an invalid speed when the number of the target vehicles is less than the set vehicle threshold.

[0055] Optionally, the second determination unit includes a judgment subunit, a first speed limit subunit, and a second speed limit subunit;

[0056] The judgment subunit is configured to judge whether there is a ramp on the road where the host vehicle is currently located according to the change situation of the lane information during the driving process of the host vehicle.

[0057] The first speed limit subunit is configured to determine a restricted speed according to the traffic sign information and the vehicle speed change of the host vehicle when there is a ramp on the road where the host vehicle is currently located.

[0058] The second speed limit subunit is configured to determine a restricted speed according to the traffic sign information, the average vehicle flow speed, and the vehicle speed change of the host vehicle when there is no ramp on the road where the host vehicle is currently located.

[0059] Optionally, the first speed limit subunit is configured to determine whether the traffic sign information includes a speed limit value when there is a ramp on the road where the host vehicle is currently located; when the traffic sign information does not include a speed limit value, mark the restricted speed as an invalid speed; when the traffic sign information includes a speed limit value, determine whether the speed limit value is within the speed limit range corresponding to the unstructured road; when the speed limit value is within the speed limit range corresponding to the unstructured road, use the speed limit value as the restricted speed; when the speed limit value is not within the speed limit range corresponding to the unstructured road, mark the speed limit value as an invalid speed.

[0060] Optionally, the second speed limit subunit is configured to determine whether the traffic sign information includes a speed limit value when there is no ramp on the road where the host vehicle is currently located; when the traffic sign information does not include a speed limit value, mark the restricted speed as an invalid speed; when the traffic sign information includes a speed limit value, determine the current road type based on the speed limit value, the average vehicle flow speed, and the vehicle speed change of the host vehicle; determine whether the speed limit value is within the speed limit range corresponding to the current road type; when the speed limit value is within the speed limit range corresponding to the current road type, use the speed limit value as the restricted speed; when the speed limit value is not within the speed limit range corresponding to the current road type, mark the restricted speed as an invalid speed.

[0061] Optionally, the adjustment unit includes a judgment subunit, a first assignment subunit, a first calculation subunit, a first weight determination subunit, a first summation subunit, a second calculation subunit, a second weight determination subunit, a second summation subunit, and a second assignment subunit;

[0062] The judgment subunit is configured to judge whether the average vehicle flow speed and the restricted speed are invalid speeds;

[0063] The first assignment subunit is configured to use the initial cruise speed as the adjusted cruise speed when both the average vehicle flow speed and the restricted speed are invalid speeds;

[0064] The first calculation subunit is configured to calculate a first difference between the initial cruise speed and the average vehicle flow speed when the average vehicle flow speed is not an invalid speed and the restricted speed is an invalid speed;

[0065] The first weight determination subunit is configured to determine the respective weights of the initial cruise speed and the average vehicle flow speed based on the first difference and a set first threshold;

[0066] The first summing subunit is configured to perform weighted summation on the initial cruising speed and the average vehicle flow speed according to the weight to obtain an adjusted cruising speed;

[0067] The second calculating subunit is configured to calculate a second difference between the restricted speed and the average vehicle flow speed when both the average vehicle flow speed and the restricted speed are not invalid speeds;

[0068] The second weight determining subunit is configured to determine the weights of the restricted speed and the average vehicle flow speed respectively based on the second difference and a set second threshold;

[0069] The second summing subunit is configured to perform weighted summation on the restricted speed and the average vehicle flow speed according to the weight to obtain an adjusted cruising speed;

[0070] The second acting subunit is configured to use the restricted speed as the adjusted cruising speed when the average vehicle flow speed is an invalid speed and the restricted speed is not an invalid speed.

[0071] Optionally, it further includes a range judgment unit, an acting unit, and a determination unit;

[0072] The range judgment unit is configured to judge whether the adjusted cruising speed is within the cruising range corresponding to the current road type;

[0073] The acting unit is configured to use the adjusted cruising speed as the final cruising speed when the adjusted cruising speed is within the cruising range corresponding to the current road type;

[0074] The determination unit is configured to determine the final cruising speed according to the deviation between the adjusted cruising speed and the cruising range when the adjusted cruising speed is not within the cruising range corresponding to the current road type.

[0075] Optionally, it further includes a frequency judgment unit, a monitoring unit, and a switching unit;

[0076] The frequency judgment unit is configured to judge whether the number of driver interventions within a cycle time is greater than or equal to a set threshold;

[0077] The monitoring unit is configured to increment the number of interventions by one each time a driver intervention behavior is detected within the cycle time when the number of driver interventions within the cycle time is less than the set threshold;

[0078] The switching unit is configured to switch the automatic driving mode to the manual driving mode when the number of driver interventions within the cycle time is greater than or equal to the set threshold.

[0079] An embodiment of the present application further provides an electronic device, including:

[0080] A memory for storing a computer program;

[0081] A processor for executing the computer program to implement the steps of the vehicle speed adjustment method as described above.

[0082] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the vehicle speed adjustment method as described above are implemented.

[0083] It can be seen from the above technical solution that road basic information is obtained; wherein, the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane. According to the driving speed of vehicles on the lane, the average traffic flow speed can be determined. The average traffic flow speed reflects the actual driving speed of other vehicles on the current road except the own vehicle. In order to set the driving speed of the own vehicle more reasonably, the average traffic flow speed can be used as a reference for adjusting the vehicle speed of itself. The lane information reflects the type of the current road, and according to the traffic sign information, it can be determined whether there is a speed limit requirement. Therefore, according to the lane information, traffic sign information, average traffic flow speed, and the speed change of the own vehicle, the restricted speed can be determined. The restricted speed reflects the speed requirement for the vehicle to drive on the current road, and the restricted speed can be used as a reference for adjusting the vehicle speed of itself. When the vehicle is automatically driving, there is a corresponding initial cruise speed. In order to make the cruise speed more in line with the actual road conditions, the average traffic flow speed, restricted speed, and initial cruise speed can be processed based on the set weight distribution rule, so as to obtain the adjusted cruise speed, and the vehicle can drive at the adjusted cruise speed. In this technical solution, by comprehensively considering the actual driving speed of other vehicles on the lane except the own vehicle, and adjusting the initial cruise speed according to the restricted speed determined based on the road conditions and vehicle speed, a cruise speed more in line with the actual road conditions can be obtained, making the adjustment of the vehicle speed more reasonable and intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] In order to more clearly illustrate the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0085] Figure 1 It is a flowchart of a vehicle speed adjustment method provided by an embodiment of the present application;

[0086] Figure 2Flowchart of a method for determining a restricted speed provided by an embodiment of the present application;

[0087] Figure 3 Flowchart of a method for determining a cruise speed provided by an embodiment of the present application;

[0088] Figure 4 Schematic structural diagram of a vehicle speed adjustment device provided by an embodiment of the present application;

[0089] Figure 5 Structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0090] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0091] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above accompanying drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may include steps or units not listed.

[0092] To enable those skilled in the art to better understand the solutions of the present application, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0093] Next, a vehicle speed adjustment method provided by the embodiments of the present application will be introduced in detail. Figure 1 Flowchart of a vehicle speed adjustment method provided by an embodiment of the present application, the method includes:

[0094] S101: Obtain road basic information.

[0095] In the embodiments of the present application, the vehicle can collect road basic information through an intelligent front view camera. By obtaining the road basic information, a reference basis can be provided for adjusting the cruise speed.

[0096] Among them, the road basic information may include lane information, traffic sign information, and vehicle driving speed on the lane.

[0097] The lane information may include lane line information and curb information of the road where the vehicle is currently located, etc.

[0098] Traffic sign information may include various traffic signs set beside the road, such as indicative signs, speed limit signs, prohibitory signs, warning signs, etc.

[0099] The driving speed of vehicles on the lane refers to the driving speed of other vehicles on the current road except the own vehicle.

[0100] S102: Determine the average traffic flow speed based on the driving speed of vehicles on the lane.

[0101] In the embodiments of the present application, when determining the average traffic flow speed, in order to avoid interference caused by irrelevant factors on the lane, a distance range and a speed range can be set.

[0102] In a specific implementation, based on the driving speed of vehicles on the lane, the number of target vehicles traveling in the same direction as the own vehicle within the set distance range and speed range can be counted.

[0103] Setting the distance range can be used to screen out target vehicles on the current road whose distance from the own vehicle is within the set range. Vehicles that are too far from the own vehicle can be ignored.

[0104] For example, the distance range can be that the lateral distance from the own vehicle is within the interval (-9m, 9m), and the longitudinal distance from the own vehicle is within the interval (10m, 140m).

[0105] Setting the speed range can be used to screen out target vehicles on the current road whose driving speed is within the set speed range. Vehicles with too fast or too slow driving speeds can be ignored.

[0106] For example, the speed range can be that the longitudinal speed value of the vehicle is within the interval (30kph, 120kph).

[0107] When the number of target vehicles is greater than or equal to the set vehicle threshold, it indicates that the driving speed of the target vehicles has reference value. At this time, the average value of the driving speeds of the target vehicles can be used as the average traffic flow speed. When the number of target vehicles is less than the set vehicle threshold, it indicates that the number of target vehicles is too small and their driving speeds do not have much reference value. At this time, the average traffic flow speed can be marked as an invalid speed.

[0108] Among them, the value of the vehicle threshold can be flexibly set based on the road conditions. For example, the value of the vehicle threshold can be set to 3.

[0109] S103: Determine the restricted speed according to the lane information, traffic sign information, average traffic flow speed, and the vehicle speed change of the own vehicle.

[0110] Lane information can reflect the current road type. The road type can include unstructured roads, structured roads, and highway roads, etc. Among them, unstructured roads can be urban ground roads, urban-rural combined roads, rural roads, etc. Structured roads can be urban elevated roads, intercity highways, etc. Highway roads can be national highways, provincial highways, etc.

[0111] Based on traffic sign information, it can be determined whether there is a speed limit requirement.

[0112] In the embodiments of the present application, lane information, traffic sign information, the average vehicle flow speed, and the speed change of the vehicle itself can be comprehensively considered to determine the restricted speed, which can reflect the speed requirement for the vehicle to travel on the current road.

[0113] S104: Process the average vehicle flow speed, the restricted speed, and the initial cruise speed based on the set weight distribution rule to obtain the adjusted cruise speed.

[0114] The average vehicle flow speed reflects the actual driving speed of other vehicles on the current road except the vehicle itself. In order to set the driving speed of the vehicle itself more reasonably, the average vehicle flow speed can be used as a reference for adjusting its own vehicle speed.

[0115] The restricted speed reflects the speed requirement for the vehicle to travel on the current road and can also be used as a reference for adjusting its own vehicle speed.

[0116] When the vehicle is automatically driving, there is a corresponding initial cruise speed. In order to make the cruise speed more in line with the actual road conditions, the average vehicle flow speed, the restricted speed, and the initial cruise speed can be processed based on the set weight distribution rule to obtain the adjusted cruise speed.

[0117] Considering that in practical applications, both the average vehicle flow speed and the restricted speed may be invalid. When adjusting the initial cruise speed, the invalid speeds can be ignored, and only the influence of the valid speeds on the cruise speed is considered.

[0118] In the embodiments of the present application, the weight distribution rule can include a way to determine the weight of the valid speed and the initial cruise based on the deviation between the valid speed and the initial cruise speed. A feasible implementation method can be referred to Figure 3 , which will not be elaborated here.

[0119] As can be seen from the above technical solution, road basic information is obtained; among them, the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane. According to the driving speed of vehicles on the lane, the average traffic flow speed can be determined. The average traffic flow speed reflects the actual driving speed of other vehicles on the current road except the vehicle itself. In order to set the driving speed of the vehicle itself more reasonably, the average traffic flow speed can be used as a reference for adjusting its own vehicle speed. The lane information reflects the type of the current road, and according to the traffic sign information, it can be determined whether there is a speed limit requirement. Therefore, according to the lane information, traffic sign information, average traffic flow speed, and the speed change of the vehicle itself, the restricted speed can be determined. The restricted speed reflects the speed requirement for the vehicle to drive on the current road, and the restricted speed can be used as a reference for adjusting its own vehicle speed. When the vehicle is automatically driving, it has its corresponding initial cruise speed. In order to make the cruise speed more in line with the actual road conditions, the average traffic flow speed, restricted speed, and initial cruise speed can be processed based on the set weight distribution rule, so as to obtain the adjusted cruise speed, and the vehicle can drive at the adjusted cruise speed. In this technical solution, by comprehensively considering the actual driving speed of other vehicles on the lane except the vehicle itself, and adjusting the initial cruise speed according to the road conditions and vehicle speed, a cruise speed that more conforms to the actual road conditions can be obtained, making the adjustment of the vehicle speed more reasonable and intelligent.

[0120] Figure 2 The flowchart of a method for determining the restricted speed provided by an embodiment of this application, the method includes:

[0121] S201: According to the change situation of the lane information during the driving process of the vehicle itself, determine whether there is a ramp on the road where the vehicle itself is currently located.

[0122] The change situation of the lane information can reflect whether the vehicle enters the ramp. In practical applications, through the collected lane information, it can be judged whether an extra-wide dotted line or a double-lane line of dotted line and solid line is recognized on the right side of the vehicle itself. When an extra-wide dotted line or a double-lane line of dotted line and solid line is recognized on the right side of the vehicle itself and the vehicle itself crosses the extra-wide dotted line or the double-lane line of dotted line and solid line to the right, it indicates that the vehicle itself has entered the ramp for driving.

[0123] The prerequisite for the existence of the ramp is that the vehicle is on a structured road and a highway type. When there is a ramp on the road where the vehicle itself is currently located, it indicates that the vehicle itself is very likely to drive from a structured road or a highway into an unstructured road. At this time, S202 can be executed.

[0124] When there is no ramp on the road where the vehicle itself is currently located, it indicates that the vehicle itself is on a structured road or a highway. At this time, S203 can be executed.

[0125] S202: Determine the speed limit based on the traffic sign information and the speed change of the host vehicle.

[0126] When there is a ramp on the road where the host vehicle is currently located, it is possible to determine whether the traffic sign information contains a speed limit value.

[0127] When the traffic sign information does not contain a speed limit value, it indicates that there is no speed limit sign on the current road. In this case, the speed limit can be marked as an invalid speed.

[0128] When the traffic sign information contains a speed limit value, it is possible to identify whether the road where the host vehicle is currently located is an unstructured road based on the traffic sign information and the speed change of the host vehicle.

[0129] In specific implementation, when the traffic sign information and the speed change of the host vehicle meet the following conditions, it can be determined that the road where the host vehicle is currently located is an unstructured road. Condition 1: It is recognized that the host vehicle has entered a ramp. Condition 2: A speed limit sign of 50 or 60 is recognized and the speed of the host vehicle is less than 60 kph; or the driver actively reduces the cruise speed value to less than 60 kph and the speed of the host vehicle is less than 70 kph; or the driver actively steps on the brake pedal to reduce the speed of the vehicle to less than 30 kph. Here, the cruise speed is the theoretical driving speed of the vehicle in autonomous driving, and the speed of the host vehicle refers to the current actual driving speed of the vehicle.

[0130] When the road where the host vehicle is currently located is an unstructured road, it is possible to further determine whether the speed limit value is within the speed limit range corresponding to the unstructured road.

[0131] Combined with the actual scenario, the speed limit range corresponding to the unstructured road can be set to 30 kph to 65 kph.

[0132] When the speed limit value is within the speed limit range corresponding to the unstructured road, the speed limit value can be used as the speed limit; when the speed limit value is not within the speed limit range corresponding to the unstructured road, it indicates that the speed limit value does not match the actual speed limit of the current road type. To avoid interference of the incorrect speed limit value on the vehicle cruise speed, in this case, the speed limit value can be marked as an invalid speed.

[0133] S203: Determine the speed limit based on the traffic sign information, the average vehicle flow speed, and the speed change of the host vehicle.

[0134] When there is no ramp on the road where the host vehicle is currently located, it is possible to determine whether the traffic sign information contains a speed limit value.

[0135] When the traffic sign information does not contain a speed limit value, it indicates that there is no speed limit sign on the current road. In this case, the speed limit can be marked as an invalid speed.

[0136] When the traffic sign information includes a speed limit value, the current road type can be further determined based on the speed limit value, the average vehicle flow speed, and the speed change of the host vehicle.

[0137] In a specific implementation, when there is no ramp on the road where the host vehicle is currently located, it indicates that the host vehicle is on a structured road or a highway.

[0138] For the case where the host vehicle is on a structured road, it may be that the host vehicle drives from an unstructured road into a structured road, or it may be that the host vehicle drives from a highway into a structured road. The judgment bases are different in these two cases.

[0139] In a specific implementation, when the following conditions are met, it can be determined that the host vehicle drives from an unstructured road into a structured road. Condition 1: A speed limit sign of 80 or 90 is recognized. Condition 2: The driver actively increases the cruise speed to above 80 kph and the speed of the host vehicle is greater than 70 kph; or the driver actively increases the speed of the host vehicle to above 85 kph.

[0140] When the following conditions are met, it can be determined that the host vehicle drives from a highway into a structured road. Condition 1: A speed limit sign of 70 or 80 is recognized. Condition 2: The driver actively reduces the cruise speed value to below 85 kph and the speed of the host vehicle is less than 95 kph.

[0141] For the case where the host vehicle is on a highway, it may be that the host vehicle drives from an unstructured road into a highway, or it may be that the host vehicle drives from a structured road into a highway. The judgment bases are the same in these two cases.

[0142] In a specific implementation, when the following conditions are met, it can be determined that the host vehicle is currently on a highway. Condition 1: A speed limit sign of 100 or above is recognized. Condition 2: The average vehicle flow speed is recognized to be greater than 25 m / s. Condition 3: The driver actively adjusts the cruise speed value to be greater than 105 kph and the speed of the host vehicle is greater than 95 kph; or the driver actively accelerates beyond 105 kph.

[0143] After identifying the road type of the road where the vehicle is located, it can be further determined whether the speed limit value is within the speed limit range corresponding to the current road type.

[0144] For an unstructured road, the corresponding speed limit range can be 30 kph to 65 kph; for a structured road, the corresponding speed limit range can be 70 kph to 95 kph; for a highway, the corresponding speed limit range can be 100 kph to 120 kph.

[0145] When the speed limit value is within the speed limit range corresponding to the current road type, the speed limit value can be used as the restricted speed. When the speed limit value is not within the speed limit range corresponding to the current road type, it indicates that the speed limit value does not match the actual restricted vehicle speed of the current road type. To avoid interference of the incorrect speed limit value on the vehicle cruise speed, the restricted speed can be marked as an invalid speed.

[0146] In the embodiments of the present application, by determining whether there is a ramp on the road where the vehicle is currently located, and based on traffic sign information, the average vehicle flow speed, and the vehicle speed change of the vehicle itself, the road type where the vehicle is located can be determined. Based on the speed limit range corresponding to the road type, it can be identified whether the speed limit value included in the speed limit sign is valid. When the speed limit value is within the speed limit range corresponding to the road type where the vehicle is currently located, it indicates that the speed limit value is a valid speed. At this time, the speed limit value can be used as the restricted speed. When the speed limit value is not within the speed limit range corresponding to the road type where the vehicle is currently located, it indicates that the speed limit value does not match the current road type. At this time, the restricted speed can be marked as an invalid speed to avoid interference of the incorrect speed limit value on the adjustment of the cruise speed.

[0147] Figure 3 The flowchart of a method for determining the cruise speed provided by the embodiments of the present application includes:

[0148] S301: Determine whether the average vehicle flow speed and the restricted speed are invalid speeds.

[0149] When both the average vehicle flow speed and the restricted speed are invalid speeds, S302 can be executed.

[0150] When the average vehicle flow speed is not an invalid speed and the restricted speed is an invalid speed, S303 can be executed.

[0151] When both the average vehicle flow speed and the restricted speed are not invalid speeds, S304 can be executed.

[0152] When the average vehicle flow speed is an invalid speed and the restricted speed is not an invalid speed, S305 can be executed.

[0153] S302: When both the average vehicle flow speed and the restricted speed are invalid speeds, use the initial cruise speed as the adjusted cruise speed.

[0154] When both the average vehicle flow speed and the restricted speed are invalid speeds, it indicates that the average vehicle flow speed and the restricted speed have no reference value at this time. Therefore, the initial cruise speed can be directly used as the adjusted cruise speed.

[0155] S303: When the average vehicle flow speed is not an invalid speed and the speed limit is an invalid speed, calculate the first difference between the initial cruise speed and the average vehicle flow speed; based on the first difference and a set first threshold, determine the respective weights of the initial cruise speed and the average vehicle flow speed; perform a weighted sum of the initial cruise speed and the average vehicle flow speed according to the weights to obtain the adjusted cruise speed.

[0156] When the average vehicle flow speed is not an invalid speed and the speed limit is an invalid speed, it indicates that the average vehicle flow speed has reference value. Therefore, the initial cruise speed can be adjusted based on the average vehicle flow speed to obtain the adjusted cruise speed.

[0157] Assume the average vehicle flow speed is v1, the initial cruise speed is v3, and the difference between the average vehicle flow speed and the initial cruise speed is m.

[0158] In specific implementation, the respective weights of the initial cruise speed and the average vehicle flow speed can be determined according to the following formula: a = 0.5 + m / k; b = 0.5 - m / k. Where the value range of k can be [100, 200], that is, any natural number within the range of 100 to 200 can be selected as k.

[0159] a represents the weight of the initial cruise speed, and b represents the weight of the average vehicle flow speed. After determining the weights, the adjusted cruise speed V = a * v3 + b * v1.

[0160] S304: When both the average vehicle flow speed and the speed limit are not invalid speeds, calculate the second difference between the speed limit and the average vehicle flow speed; based on the second difference and a set second threshold, determine the respective weights of the speed limit and the average vehicle flow speed; perform a weighted sum of the speed limit and the average vehicle flow speed according to the weights to obtain the adjusted cruise speed.

[0161] When both the average vehicle flow speed and the speed limit are not invalid speeds, the average vehicle flow speed and the speed limit can better reflect the real road conditions. Therefore, the cruise speed can be determined based on the average vehicle flow speed and the speed limit.

[0162] Assume the average vehicle flow speed is v1, the speed limit is v2, and the difference between the average vehicle flow speed and the speed limit is n.

[0163] In specific implementation, the respective weights of the initial cruise speed and the average vehicle flow speed can be determined according to the following formula: c = 0.5 + n / g; d = 0.5 - n / g. Where the value range of g can be [100, 200], that is, any natural number within the range of 100 to 200 can be selected as g.

[0164] c represents the weight for the restricted speed, and d represents the weight for the average speed of the vehicle flow. After determining the weights, the adjusted cruising speed V = c * v2 + d * v1.

[0165] S305: When the average speed of the vehicle flow is an invalid speed and the restricted speed is not an invalid speed, use the restricted speed as the adjusted cruising speed.

[0166] When the average speed of the vehicle flow is an invalid speed and the restricted speed is not an invalid speed, it indicates that the restricted speed has reference value. The restricted speed is used to represent the maximum speed limit when the vehicle is driving. Therefore, when the restricted speed is not an invalid speed, the restricted speed can be directly used as the adjusted cruising speed.

[0167] It should be noted that S302 to S305 are four parallel situations without a specified order.

[0168] In the embodiments of the present application, based on whether the average speed of the vehicle flow and the restricted speed are valid, the adjustment method of the cruising speed is determined, which can fully consider the speed with reference value, so that the determined cruising speed is more in line with the actual road conditions.

[0169] Considering that in practical applications, the allowable driving speeds of different road types are different. After determining the cruising speed according to the method introduced above, it can be judged whether the adjusted cruising speed is within the cruising range corresponding to the current road type.

[0170] The road types can include unstructured roads, structured roads, and highway roads. The cruising range corresponding to unstructured roads can be set to 30 kph to 70 kph; the cruising range corresponding to structured roads can be set to 70 kph to 100 kph; the cruising range corresponding to highway roads can be set to 100 kph to 120 kph.

[0171] When the adjusted cruising speed is within the cruising range corresponding to the current road type, it indicates that the adjusted cruising speed belongs to the allowable driving speed of the current road type. At this time, the adjusted cruising speed can be used as the final cruising speed.

[0172] When the adjusted cruising speed is not within the cruising range corresponding to the current road type, it indicates that the adjusted cruising speed is not the allowable driving speed of the current road type. For the safe driving of the vehicle, at this time, the final cruising speed can be determined based on the deviation between the adjusted cruising speed and the cruising range.

[0173] When the adjusted cruising speed is greater than the upper limit value of the cruising range, the upper limit value of the cruising range can be used as the final cruising speed; when the adjusted cruising speed is less than the lower limit value of the cruising range, the lower limit value of the cruising range can be used as the final cruising speed.

[0174] For example, assume that the vehicle is currently on a structured road, the adjusted cruising speed is 110 kph, and the cruising range corresponding to the structured road is from 70 kph to 100 kph. The adjusted cruising speed exceeds the cruising range corresponding to the structured road. At this time, the upper limit value of 100 kph of the cruising range corresponding to the structured road can be used as the final cruising speed.

[0175] In practical applications, the determined cruising speed may not meet the driving requirements of the current road. At this time, the driver can manually intervene in the cruising speed. For example, the driver can actively toggle the cruising speed setting button and drive at the cruising speed set by the driver. Or the driver can actively step on the accelerator to accelerate and set the speed when the driver releases the accelerator as the cruising speed.

[0176] If the driver intervenes frequently during the automated driving process, it indicates that the currently determined cruising speed of the system is not reasonable. Therefore, the automated driving mode can be cancelled.

[0177] In a specific implementation, it can be determined whether the number of driver interventions within a cycle time is greater than or equal to a set threshold. The value of the set threshold can be flexibly set based on actual requirements. For example, it can be set to 3 times.

[0178] When the number of driver interventions within the cycle time is less than the set threshold, each time a driver intervention behavior is detected within the cycle time, the number of interventions is incremented by one. When the number of driver interventions within the cycle time is greater than or equal to the set threshold, the automated driving mode is switched to the manual driving mode.

[0179] In the embodiments of the present application, by counting the number of driver interventions, the vehicle can be timely switched from the automated driving mode to the manual driving mode in the case of multiple driver interventions to ensure the safe driving of the vehicle.

[0180] Figure 4 The structural schematic diagram of a vehicle speed adjustment device provided by the embodiments of the present application includes an acquisition unit 41, a first determination unit 42, a second determination unit 43, and an adjustment unit 44;

[0181] The acquisition unit 41 is used to acquire road basic information; wherein, the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane;

[0182] The first determination unit 42 is configured to determine the average vehicle flow speed based on the driving speed of vehicles on the lane.

[0183] The second determination unit 43 is configured to determine the restricted speed according to the lane information, traffic sign information, average vehicle flow speed, and the speed change of the host vehicle.

[0184] The adjustment unit 44 is configured to process the average vehicle flow speed, restricted speed, and initial cruise speed based on the set weight distribution rule to obtain the adjusted cruise speed.

[0185] Optionally, the first determination unit includes a statistics subunit, an averaging subunit, and a marking subunit.

[0186] The statistics subunit is configured to count the number of target vehicles traveling in the same direction as the host vehicle within a set distance range and speed range based on the driving speed of vehicles on the lane.

[0187] The averaging subunit is configured to, when the number of target vehicles is greater than or equal to the set vehicle threshold, use the average value of the driving speeds of the target vehicles as the average vehicle flow speed.

[0188] The marking subunit is configured to, when the number of target vehicles is less than the set vehicle threshold, mark the average vehicle flow speed as an invalid speed.

[0189] Optionally, the second determination unit includes a judgment subunit, a first speed limit subunit, and a second speed limit subunit.

[0190] The judgment subunit is configured to judge whether there is a ramp on the road where the host vehicle is currently located according to the change of the lane information during the driving process of the host vehicle.

[0191] The first speed limit subunit is configured to, when there is a ramp on the road where the host vehicle is currently located, determine the restricted speed according to the traffic sign information and the speed change of the host vehicle.

[0192] The second speed limit subunit is configured to, when there is no ramp on the road where the host vehicle is currently located, determine the restricted speed according to the traffic sign information, average vehicle flow speed, and the speed change of the host vehicle.

[0193] Optionally, the first speed limit subunit is configured to, when there is a ramp on the road where the host vehicle is currently located, judge whether the traffic sign information includes a speed limit value; when the traffic sign information does not include a speed limit value, mark the restricted speed as an invalid speed; when the traffic sign information includes a speed limit value, judge whether the speed limit value is within the speed limit range corresponding to the unstructured road; when the speed limit value is within the speed limit range corresponding to the unstructured road, use the speed limit value as the restricted speed; when the speed limit value is not within the speed limit range corresponding to the unstructured road, mark the speed limit value as an invalid speed.

[0194] Optionally, the second speed limit subunit is used to determine whether the traffic sign information contains a speed limit value when there is no ramp on the road where the vehicle is currently located; when the traffic sign information does not contain a speed limit value, mark the restricted speed as an invalid speed; when the traffic sign information contains a speed limit value, determine the current road type based on the speed limit value, the average vehicle flow speed, and the vehicle speed change of the vehicle itself; determine whether the speed limit value is within the speed limit range corresponding to the current road type; when the speed limit value is within the speed limit range corresponding to the current road type, use the speed limit value as the restricted speed; when the speed limit value is not within the speed limit range corresponding to the current road type, mark the restricted speed as an invalid speed.

[0195] Optionally, the adjustment unit includes a judgment subunit, a first acting subunit, a first calculation subunit, a first weight determination subunit, a first summation subunit, a second calculation subunit, a second weight determination subunit, a second summation subunit, and a second acting subunit;

[0196] The judgment subunit is used to judge whether the average vehicle flow speed and the restricted speed are invalid speeds;

[0197] The first acting subunit is used to use the initial cruise speed as the adjusted cruise speed when both the average vehicle flow speed and the restricted speed are invalid speeds;

[0198] The first calculation subunit is used to calculate the first difference between the initial cruise speed and the average vehicle flow speed when the average vehicle flow speed is not an invalid speed and the restricted speed is an invalid speed;

[0199] The first weight determination subunit is used to determine the respective weights of the initial cruise speed and the average vehicle flow speed based on the first difference and a set first threshold value;

[0200] The first summation subunit is used to perform weighted summation on the initial cruise speed and the average vehicle flow speed according to the weights to obtain the adjusted cruise speed;

[0201] The second calculation subunit is used to calculate the second difference between the restricted speed and the average vehicle flow speed when both the average vehicle flow speed and the restricted speed are not invalid speeds;

[0202] The second weight determination subunit is used to determine the respective weights of the restricted speed and the average vehicle flow speed based on the second difference and a set second threshold value;

[0203] The second summation subunit is used to perform weighted summation on the restricted speed and the average vehicle flow speed according to the weights to obtain the adjusted cruise speed;

[0204] A second sub-unit, configured to use the restricted speed as the adjusted cruise speed when the average speed of the traffic flow is an invalid speed and the restricted speed is not an invalid speed.

[0205] Optionally, it further includes a range judgment unit, an assignment unit, and a determination unit;

[0206] The range judgment unit is configured to judge whether the adjusted cruise speed is within the cruise range corresponding to the current road type;

[0207] The assignment unit is configured to use the adjusted cruise speed as the final cruise speed when the adjusted cruise speed is within the cruise range corresponding to the current road type;

[0208] The determination unit is configured to determine the final cruise speed according to the deviation between the adjusted cruise speed and the cruise range when the adjusted cruise speed is not within the cruise range corresponding to the current road type.

[0209] Optionally, it further includes a frequency judgment unit, a monitoring unit, and a switching unit;

[0210] The frequency judgment unit is configured to judge whether the number of driver interventions within a cycle time is greater than or equal to a set threshold;

[0211] The monitoring unit is configured to increment the number of interventions by one each time a driver intervention behavior is detected within the cycle time when the number of driver interventions within the cycle time is less than the set threshold;

[0212] The switching unit is configured to switch the autonomous driving mode to the manual driving mode when the number of driver interventions within the cycle time is greater than or equal to the set threshold.

[0213] Figure 4 For the description of the features in the corresponding embodiments, reference can be made to Figures 1 to 3 the relevant descriptions of the corresponding embodiments, which will not be elaborated here one by one.

[0214] It can be seen from the above technical solution that road basic information is obtained; among them, the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane. According to the driving speed of vehicles on the lane, the average traffic flow speed can be determined. The average traffic flow speed reflects the actual driving speed of other vehicles on the current road except the vehicle itself. In order to set the driving speed of the vehicle itself more reasonably, the average traffic flow speed can be used as a reference for adjusting its own vehicle speed. The lane information reflects the type of the current road, and whether there is a speed limit requirement can be determined based on the traffic sign information. Therefore, the restricted speed can be determined according to the lane information, traffic sign information, average traffic flow speed, and the speed change of the vehicle itself. The restricted speed reflects the speed requirement for the vehicle to drive on the current road, and the restricted speed can be used as a reference for adjusting its own vehicle speed. When the vehicle is automatically driving, there is a corresponding initial cruise speed. In order to make the cruise speed more in line with the actual road conditions, the average traffic flow speed, restricted speed, and initial cruise speed can be processed based on the set weight distribution rule, so as to obtain the adjusted cruise speed, and the vehicle can drive at the adjusted cruise speed. In this technical solution, by comprehensively considering the actual driving speed of other vehicles on the lane except the vehicle itself, and adjusting the initial cruise speed according to the restricted speed determined based on the road conditions and vehicle speed, a cruise speed more in line with the actual road conditions can be obtained, making the adjustment of the vehicle speed more reasonable and intelligent.

[0215] Figure 5 The following is a structural diagram of an electronic device provided by an embodiment of the present application, as Figure 5 shown, the electronic device includes: a memory 20 for storing a computer program;

[0216] a processor 21 for implementing the steps of the vehicle speed adjustment method in the above embodiment when executing the computer program.

[0217] The electronic device provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a laptop computer, or a desktop computer, etc.

[0218] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in at least one of the following hardware forms: DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0219] The memory 20 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 20 may further include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201. After the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the vehicle speed adjustment method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, road basic information, etc.

[0220] In some embodiments, the electronic device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0221] Those skilled in the art can understand that Figure 5 the structure shown in

[0222] It can be understood that if the vehicle speed adjustment method in the above embodiments is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods in the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), electrically erasable programmable ROMs, registers, hard disks, removable disks, CD-ROMs, magnetic disks, or optical discs.

[0223] Based on this, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above vehicle speed adjustment method are implemented.

[0224] The functions of the functional modules of the computer-readable storage medium described in the embodiments of the present invention can be specifically implemented according to the methods in the above method embodiments. The specific implementation process can refer to the relevant descriptions in the above method embodiments and will not be elaborated here.

[0225] The above has introduced in detail a vehicle speed adjustment method, device, equipment, and computer-readable storage medium provided by the embodiments of the present application. The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple. For the relevant parts, refer to the description in the method part.

[0226] Those skilled in the art can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of the examples have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0227] The above has introduced in detail a vehicle speed adjustment method, device, equipment, and computer-readable storage medium provided by the present application. Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A vehicle speed adjustment method, characterized in that, Including: Obtain road basic information; wherein, the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane; Determine the average traffic flow speed based on the driving speed of vehicles on the lane; Determine the restricted speed according to the lane information, the traffic sign information, the average traffic flow speed, and the speed change of the vehicle itself; Process the average traffic flow speed, the restricted speed, and the initial cruise speed based on a set weight distribution rule to obtain the adjusted cruise speed; The determining the restricted speed according to the lane information, the traffic sign information, the average traffic flow speed, and the speed change of the vehicle itself includes: Judge whether there is a ramp on the road where the vehicle itself is currently located according to the change of the lane information during the driving process of the vehicle itself; When there is a ramp on the road where the vehicle itself is currently located, determine the restricted speed according to the traffic sign information and the speed change of the vehicle itself; When there is no ramp on the road where the vehicle itself is currently located, determine the restricted speed according to the traffic sign information, the average traffic flow speed, and the speed change of the vehicle itself; The determining the restricted speed according to the traffic sign information and the speed change of the vehicle itself when there is a ramp on the road where the vehicle itself is currently located includes: When there is a ramp on the road where the vehicle itself is currently located, judge whether the traffic sign information contains a speed limit value; When the traffic sign information does not contain a speed limit value, mark the restricted speed as an invalid speed; When the traffic sign information contains a speed limit value, judge whether the speed limit value is within the speed limit range corresponding to the unstructured road; When the speed limit value is within the speed limit range corresponding to the unstructured road, use the speed limit value as the restricted speed; When the speed limit value is not within the speed limit range corresponding to the unstructured road, mark the speed limit value as an invalid speed; The processing the average traffic flow speed, the restricted speed, and the initial cruise speed based on a set weight distribution rule to obtain the adjusted cruise speed includes: Judge whether the average traffic flow speed and the restricted speed are invalid speeds; When both the average traffic flow speed and the restricted speed are invalid speeds, use the initial cruise speed as the adjusted cruise speed; When the average traffic flow speed is not an invalid speed and the restricted speed is an invalid speed, calculate the first difference between the initial cruise speed and the average traffic flow speed; based on the first difference and a set first threshold, determine the weights of the initial cruise speed and the average traffic flow speed respectively; perform weighted summation on the initial cruise speed and the average traffic flow speed according to the weights to obtain the adjusted cruise speed; When both the average vehicle flow speed and the limit speed are not invalid speeds, calculate a second difference between the limit speed and the average vehicle flow speed; based on the second difference and a set second threshold, determine the respective weights of the limit speed and the average vehicle flow speed; and perform a weighted sum of the limit speed and the average vehicle flow speed according to the weights to obtain an adjusted cruise speed. When the average vehicle flow speed is an invalid speed and the limit speed is not an invalid speed, use the limit speed as the adjusted cruise speed.

2. The vehicle speed adjustment method according to claim 1, wherein The determining the average vehicle flow speed according to the vehicle driving speeds on the lane includes: Based on the vehicle driving speeds on the lane, count the number of target vehicles traveling in the same direction as the host vehicle within a set distance range and speed range; When the number of target vehicles is greater than or equal to a set vehicle threshold, use the average value of the vehicle driving speeds of the target vehicles as the average vehicle flow speed; When the number of target vehicles is less than the set vehicle threshold, mark the average vehicle flow speed as an invalid speed.

3. The vehicle speed adjustment method according to claim 1, characterized in that The determining the limit speed according to the traffic sign information, the average vehicle flow speed, and the vehicle speed change of the host vehicle when there is no ramp on the current road where the host vehicle is located includes: When there is no ramp on the current road where the host vehicle is located, determine whether the traffic sign information contains a speed limit value; When the traffic sign information does not contain a speed limit value, mark the limit speed as an invalid speed; When the traffic sign information contains a speed limit value, determine the current road type according to the speed limit value, the average vehicle flow speed, and the vehicle speed change of the host vehicle; Determine whether the speed limit value is within the speed limit range corresponding to the current road type; When the speed limit value is within the speed limit range corresponding to the current road type, use the speed limit value as the limit speed; When the speed limit value is not within the speed limit range corresponding to the current road type, mark the limit speed as an invalid speed.

4. The vehicle speed adjustment method according to claim 1, wherein After obtaining the adjusted cruise speed, it further includes: Determine whether the adjusted cruise speed is within the cruise range corresponding to the current road type; When the adjusted cruise speed is within the cruise range corresponding to the current road type, use the adjusted cruise speed as the final cruise speed; When the adjusted cruise speed is not within the cruise range corresponding to the current road type, determine the final cruise speed according to the deviation between the adjusted cruise speed and the cruise range.

5. The vehicle speed adjustment method according to any one of claims 1-4, characterized in that After obtaining the adjusted cruise speed, it further includes: Determine whether the number of driver interventions within a judgment cycle time is greater than or equal to a set threshold; When the number of driver interventions within the cycle time is less than the set threshold, each time a driver intervention behavior is detected within the cycle time, increment the intervention number by one; When the number of driver interventions within the cycle time is greater than or equal to the set threshold, switch the automatic driving mode to the manual driving mode.

6. A vehicle speed adjustment device, characterized in that, It includes an acquisition unit, a first determination unit, a second determination unit, and an adjustment unit; The obtaining unit is configured to obtain road basic information; wherein, the road basic information includes lane information, traffic sign information, and the driving speed of vehicles on the lane. The first determining unit is configured to determine the average traffic flow speed based on the driving speed of vehicles on the lane. The second determining unit is configured to determine the restricted speed according to the lane information, the traffic sign information, the average traffic flow speed, and the speed change of the vehicle itself. The adjusting unit is configured to process the average traffic flow speed, the restricted speed, and the initial cruise speed based on a set weight distribution rule to obtain the adjusted cruise speed. The second determining unit includes a judgment subunit, a first speed limit subunit, and a second speed limit subunit. The judgment subunit is configured to judge whether there is a ramp on the road where the vehicle itself is currently located according to the change of the lane information during the driving process of the vehicle itself. The first speed limit subunit is configured to determine the restricted speed according to the traffic sign information and the speed change of the vehicle itself when there is a ramp on the road where the vehicle itself is currently located. The second speed limit subunit is configured to determine the restricted speed according to the traffic sign information, the average traffic flow speed, and the speed change of the vehicle itself when there is no ramp on the road where the vehicle itself is currently located. The first speed limit subunit is configured to judge whether the traffic sign information includes a speed limit value when there is a ramp on the road where the vehicle itself is currently located; when the traffic sign information does not include a speed limit value, mark the restricted speed as an invalid speed; when the traffic sign information includes a speed limit value, judge whether the speed limit value is within the speed limit range corresponding to the unstructured road; when the speed limit value is within the speed limit range corresponding to the unstructured road, use the speed limit value as the restricted speed; when the speed limit value is not within the speed limit range corresponding to the unstructured road, mark the speed limit value as an invalid speed. The adjusting unit includes a judgment subunit, a first acting subunit, a first calculating subunit, a first weight determining subunit, a first summing subunit, a second calculating subunit, a second weight determining subunit, a second summing subunit, and a second acting subunit. The judgment subunit is configured to judge whether the average traffic flow speed and the restricted speed are invalid speeds. The first acting subunit is configured to use the initial cruise speed as the adjusted cruise speed when both the average traffic flow speed and the restricted speed are invalid speeds. The first calculating subunit is configured to calculate a first difference between the initial cruise speed and the average traffic flow speed when the average traffic flow speed is not an invalid speed and the restricted speed is an invalid speed. The first weight determining subunit is configured to determine the respective weights of the initial cruise speed and the average traffic flow speed based on the first difference and a set first threshold. The first summing subunit is configured to perform weighted summation on the initial cruise speed and the average traffic flow speed according to the weights to obtain the adjusted cruise speed. The second calculation subunit is configured to calculate a second difference between the restricted speed and the average vehicle flow speed when both the average vehicle flow speed and the restricted speed are not invalid speeds; The second weight determination subunit is configured to determine the respective weights of the restricted speed and the average vehicle flow speed based on the second difference and a set second threshold; The second summation subunit is configured to perform weighted summation on the restricted speed and the average vehicle flow speed according to the weights to obtain an adjusted cruise speed; The second acting subunit is configured to use the restricted speed as the adjusted cruise speed when the average vehicle flow speed is an invalid speed and the restricted speed is not an invalid speed.

7. An electronic device, characterized in that, Comprising: A memory for storing a computer program; A processor for executing the computer program to implement the steps of the vehicle speed adjustment method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the steps of the vehicle speed adjustment method according to any one of claims 1 to 5 are implemented.

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