Vehicle speed limit control method and device, vehicle, readable storage medium and chip

Abstract

The application discloses a vehicle speed limiting control method and device, a vehicle, a readable storage medium and a chip, and relates to the technical field of vehicle auxiliary driving, and the method comprises the following steps: acquiring current state parameters of the vehicle, wherein the current state parameters at least include a current speed signal and current speed signal state information; determining a pulse frequency signal according to the current speed signal and the current speed signal state information; searching and acquiring configuration information corresponding to vehicle speed limiting in a preset database of the vehicle according to the current state parameters; wherein the configuration information comprises a first preset pulse frequency, a second preset pulse frequency, first vehicle control strategy information and second vehicle control strategy information; and determining and executing a control strategy corresponding to the first vehicle control strategy information according to the pulse frequency signal and the preset pulse frequency. Therefore, the highest speed of the vehicle is automatically limited, the vehicle can timely enter a safe state, and the problem of shaft breakage caused by excessively high speed is avoided.

Description

Technical Field

[0001] This invention relates to the field of vehicle driver assistance technology, and in particular to a vehicle speed limit control method, device, vehicle, readable storage medium, and chip. Background Technology

[0002] The existing intelligent speed limiting system is mainly based on the torque output control of the engine management system (EMS). When the vehicle speed exceeds a certain threshold of the speed limit, the EMS will not continue to output a larger throttle torque value to maintain the speed limit value, thereby ensuring the driving safety of the vehicle.

[0003] However, commercial vehicles are limited by the configuration of EMS systems. If the EMS is not matched, the maximum speed cannot be limited, which will prevent the vehicle from entering a safe state in time. At the same time, excessive speed may also cause axle breakage. If the vehicle is equipped with an EMS system, the vehicle production cost will increase. Therefore, for vehicles without EMS systems, if the maximum speed is not automatically limited, the vehicle will not be able to enter a safe state in time, which will bring serious safety hazards. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a vehicle speed limit control method, device, vehicle, readable storage medium, and chip.

[0005] According to a first aspect of the present invention, a vehicle speed limit control method is provided, comprising:

[0006] Obtain the current state parameters of the vehicle, wherein the current state parameters include at least the current vehicle speed signal and the current vehicle speed signal status information;

[0007] The pulse frequency signal is calculated and determined based on the current vehicle speed signal and the current vehicle speed signal status information;

[0008] Based on the current state parameters, the configuration information corresponding to the vehicle speed limit is searched and obtained from the vehicle's preset database; wherein, the configuration information includes a first preset pulse frequency, a second preset pulse frequency, a first vehicle control strategy information, and a second vehicle control strategy information;

[0009] Based on the pulse frequency signal, the first preset pulse frequency, and the second preset pulse frequency, determine and execute the control strategy corresponding to the vehicle control strategy information;

[0010] Specifically, determining and executing the control strategy corresponding to the first vehicle control strategy information based on the pulse frequency signal, the first preset pulse frequency, and the second preset pulse frequency includes:

[0011] If the pulse frequency signal is greater than or equal to the first preset pulse frequency, the vehicle is controlled according to the control strategy corresponding to the first vehicle control strategy information.

[0012] If the pulse frequency vehicle speed signal is less than the second preset pulse frequency, the vehicle is controlled according to the control strategy corresponding to the second vehicle control strategy information.

[0013] Optionally, the step of calculating and determining the pulse frequency signal based on the current vehicle speed signal and the current vehicle speed signal status information includes:

[0014] The calculation method for determining the pulse frequency signal is as follows:

[0015] In the formula: f is the pulse frequency signal (Hz); V is the current vehicle speed signal (Km / h); L is the number of pulses per kilometer.

[0016] According to one aspect of the above technical solution, if the pulse frequency vehicle speed signal is greater than or equal to the first preset pulse frequency, then the vehicle is controlled according to the control strategy corresponding to the first vehicle control strategy information, specifically including:

[0017] Send a first control request to the vehicle's mechanical speed limiter to control the accelerator pedal travel of the vehicle;

[0018] Send an alarm command to the vehicle's infotainment system to control the infotainment system to enter alarm mode;

[0019] According to one aspect of the above technical solution, after sending a first control request to the vehicle's mechanical speed limiter to control the accelerator pedal travel, the process includes:

[0020] If the pulse frequency signal is greater than the second preset pulse frequency, the mechanical speed limiter continues to control the accelerator pedal travel of the vehicle, and the in-vehicle infotainment system continues to execute the alarm mode.

[0021] According to one aspect of the above technical solution, if the pulse frequency vehicle speed signal is less than the second preset pulse frequency, the vehicle is controlled according to the control strategy corresponding to the second vehicle control strategy information, including:

[0022] A second control request is sent to the vehicle's mechanical speed limiter, wherein...

[0023] If the mechanical speed limiter is in the state of controlling the accelerator pedal travel, then the mechanical speed limiter releases the control over the accelerator pedal travel.

[0024] If the mechanical speed limiter is in a state where the accelerator pedal travel is not controlled, the mechanical speed limiter will not switch states.

[0025] According to one aspect of the above technical solution, if the pulse frequency vehicle speed signal is less than the second preset pulse frequency, then the vehicle is controlled according to the control strategy corresponding to the second vehicle control strategy information, further comprising:

[0026] A switching command is sent to the vehicle's in-vehicle infotainment system, wherein,

[0027] If the in-vehicle infotainment system is in alarm mode, the in-vehicle infotainment system will switch from alarm mode to normal mode.

[0028] If the in-vehicle infotainment system is in normal mode, the in-vehicle infotainment system mode will not be switched.

[0029] According to an embodiment of the present invention, a vehicle speed limit control method can acquire the current state parameters of the vehicle in real time, the current state parameters including at least the current vehicle speed signal and the current vehicle speed signal status information; then, according to a signal conversion formula, the current vehicle speed signal is converted into a pulse frequency signal, and the pulse frequency signal is hardwired and transmitted to the mechanical speed limit controller. The mechanical speed limit controller performs logical judgment based on the input pulse frequency signal. When the pulse frequency signal is greater than a preset pulse frequency, the controller performs corresponding mechanical control on the accelerator pedal travel, preventing the driver from further increasing the accelerator, thereby automatically limiting the maximum vehicle speed, allowing the vehicle to enter a safe state in a timely manner, and also avoiding the possibility of axle breakage due to excessive speed.

[0030] By sending different commands to the vehicle's in-vehicle infotainment system, the system can switch between alarm mode and normal mode, providing real-time alerts to the driver regarding vehicle speed and improving driver-vehicle interaction. This avoids the impact on the driver's normal driving experience that would result from the vehicle speed limit control method described in this invention. For vehicles without an EMS engine management system, this invention automatically limits the vehicle's maximum speed, ensuring the vehicle enters a safe state promptly, while also preventing axle breakage issues that may occur due to excessive speed.

[0031] To achieve the above objectives, according to a second aspect of the present invention, a vehicle speed limit control device is provided, comprising:

[0032] The first acquisition module is configured to acquire the vehicle's current speed signal and current speed signal status information;

[0033] The information conversion module is configured to calculate and convert the current vehicle speed signal and the current vehicle speed signal status information obtained by the first acquisition module into a pulse frequency signal;

[0034] The first determining module is configured to determine the control strategy corresponding to the vehicle control strategy information based on the pulse frequency signal obtained by the information conversion module and the preset pulse frequency information.

[0035] The first control module is configured to control the vehicle based on the control strategy corresponding to the vehicle control strategy information;

[0036] The second acquisition submodule is configured to acquire the status information of the vehicle's in-vehicle infotainment system;

[0037] The second determining submodule is configured to determine the state transition of the in-vehicle infotainment system based on the state information of the in-vehicle infotainment system obtained by the second obtaining submodule.

[0038] The second control submodule is configured to control the state transition of the in-vehicle infotainment system based on the state information of the in-vehicle infotainment system.

[0039] To achieve the above objectives, according to a third aspect of the present invention, a vehicle is provided, comprising:

[0040] processor;

[0041] Memory used to store processor-executable instructions;

[0042] The processor is configured as follows:

[0043] The steps for implementing a vehicle speed limit control method provided in the first aspect of the present invention.

[0044] To achieve the above objectives, according to a fourth aspect of the present invention, a non-transitory computer-readable storage medium is provided, on which computer program instructions are stored, wherein when executed by a processor, the computer program instructions implement the steps of a vehicle speed limit control method provided in the first aspect of the present invention.

[0045] To achieve the above objectives, according to a fourth aspect of the present invention, a chip is provided, including a processor and an interface; the processor is configured to read instructions to execute a vehicle speed limit control method provided in the first aspect of the present invention.

[0046] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating a vehicle speed limit control method according to an exemplary embodiment;

[0049] Figure 2 This is a flowchart illustrating another vehicle speed limit control method according to an exemplary embodiment;

[0050] Figure 3 This is a block diagram illustrating a vehicle speed limit control device according to an exemplary embodiment;

[0051] Figure 4 This is a block diagram illustrating a device for vehicle speed limit control according to an exemplary embodiment;

[0052] Figure 5 This is a functional block diagram of a vehicle according to an exemplary embodiment. Detailed Implementation

[0053] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0054] The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects and not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, it may include a series of steps or units, or optionally, steps or units not listed, or other steps or units inherent to these processes, methods, products, or devices.

[0055] The accompanying drawings show only the portions relevant to this application, not all of them. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts depict operations (or steps) as sequential processes, many of these operations may be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process may correspond to a method, function, procedure, subroutine, subprogram, etc.

[0056] The terms “component,” “module,” “system,” “unit,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, a thread of execution, a program, and / or distributed between two or more computers. Furthermore, these units can be executed from various computer-readable media on which various data structures are stored. Units can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from a second unit interacting with another unit between a local system, a distributed system, and / or a network; for example, the Internet interacting with other systems via signals).

[0057] Example 1

[0058] Figure 1 This is a flowchart illustrating a vehicle speed limit control method according to an exemplary embodiment. The vehicle speed limit control method is applied to an electronic device with processing capabilities, such as an in-vehicle processor, controller, etc. Figure 1 As shown, the vehicle speed limit control method includes the following steps:

[0059] In step S11, the current state parameters of the vehicle are obtained, wherein the current state parameters include at least the current vehicle speed signal and the current vehicle speed signal status information.

[0060] As one possible implementation method of this disclosure, the current vehicle speed signal refers to the real-time vehicle speed during vehicle operation. In this disclosure embodiment, when the vehicle acquires the current vehicle speed signal, one feasible solution is to periodically collect the vehicle speed in real time using a speed sensor configured in the vehicle's anti-lock braking system (ABS). The current vehicle speed signal status information refers to control information generated in real time according to system instructions after the current vehicle speed signal is acquired. This current vehicle speed signal status information can at least be used to determine whether the current vehicle speed signal has lost some data during transmission, leading to information errors, thus ensuring the accuracy of the data during transmission. Simultaneously, it can also be used to transmit and control subsequent program execution along with the current vehicle speed signal. For example, if the previous vehicle speed signal status information is determined to be valid, the current vehicle speed signal is continued to be transmitted to the next control system step; if the previous vehicle speed signal status information is determined to be invalid, the current vehicle speed signal is automatically deleted, and the current vehicle speed signal and current vehicle speed signal status information are reacquired to improve the accuracy of the current vehicle speed signal transmission and the efficiency of the system's speed limit control.

[0061] In step S12, the pulse frequency signal is calculated and determined based on the current vehicle speed signal and the current vehicle speed signal status information;

[0062] In this step, the method for calculating and determining the pulse frequency signal is as follows: In the formula: f is the pulse frequency signal (Hz); V is the current vehicle speed signal (Km / h); L is the number of pulses per kilometer, and L can be 2474; the vehicle speed limit control method converts the current vehicle speed signal into a pulse frequency signal, laying the groundwork for subsequent mechanical control to achieve speed limit. To achieve this step, one possible method is for the vehicle anti-lock braking system to transmit the collected current vehicle speed signal to the body control module (BCM) via a CAN network. The body control module converts the current vehicle speed signal into a pulse frequency signal using a preset conversion formula. In one possible implementation, the pulse frequency signal is a pulse width modulation (PWM) frequency signal.

[0063] In step S13, based on the current state parameters, the configuration information corresponding to the vehicle speed limit is searched and obtained from the vehicle's preset database; wherein, the configuration information includes a first preset pulse frequency, a second preset pulse frequency, a first vehicle control strategy information, and a second vehicle control strategy information;

[0064] In this step, the vehicle can logically compare the pulse frequency signal with the preset first preset pulse frequency, second preset pulse frequency, first vehicle control strategy information, and second vehicle control strategy information, and invoke the corresponding speed limit control strategy.

[0065] It should be noted that the value of the first preset pulse frequency is less than the value of the second preset pulse frequency. When the system compares the pulse frequency signal with the first preset pulse frequency, it schedules the first vehicle control strategy information. When the system compares the pulse frequency signal with the second preset pulse frequency, it schedules the second vehicle control strategy information.

[0066] In one possible implementation, when the vehicle starts to accelerate, the comparison and judgment of the first preset pulse frequency, the second preset pulse frequency, and the pulse frequency signal can be configured to compare only the pulse frequency signal with the first preset pulse frequency. After the vehicle has exceeded the speed limit and the speed limit control strategy is invoked, it can be configured to compare the pulse frequency signal with the second preset pulse frequency.

[0067] This feasible configuration method simplifies the control program flow corresponding to the speed limit control method. For a vehicle that is in motion, when the vehicle speed reaches the speed limit, the speed limit control method is invoked without conflicting with other control strategies of the vehicle, thus improving the driver's experience with the vehicle configured with this speed limit control method.

[0068] In step S14, the control strategy corresponding to the vehicle control strategy information is determined and executed based on the pulse frequency signal, the first preset pulse frequency, and the second preset pulse frequency.

[0069] In this step, one possible implementation is that the control strategy corresponding to the vehicle control strategy information is as follows: a mechanical speed limiter is preset in the vehicle, an actuator is configured on the accelerator pedal in the vehicle, and the mechanical speed limiter controls the actuator according to logical judgment to achieve control of the accelerator pedal travel.

[0070] The mechanical speed limiter controller can be configured according to the following logic: the vehicle body control system is hardwired into the mechanical speed limiter controller and transmits the pulse frequency signal to the information processing module of the mechanical speed limiter controller. The information processing module then calls the first preset pulse frequency and the second preset pulse frequency for comparison and transmits the control request to the hardware implementation module of the mechanical speed limiter controller to implement the preset corresponding control strategy.

[0071] Example 2

[0072] Figure 2 This is a flowchart illustrating another vehicle speed limit control method according to an exemplary embodiment, such as... Figure 2 As shown, the method may include the following steps.

[0073] In step S1401, it is determined whether the pulse frequency signal is greater than or equal to the first preset pulse frequency. If it is greater than or equal to the first preset pulse frequency, step S1403 is executed; otherwise, step S1402 is executed.

[0074] In step S1402, the vehicle continues to collect the current vehicle speed signal and the current vehicle speed signal status information in real time.

[0075] In step S1403, the vehicle's mechanical speed limiter controller sends a first control request to control the travel of the vehicle's accelerator pedal;

[0076] The first control request is to cause the mechanical speed limiter to physically and mechanically control the accelerator pedal travel, so that the driver cannot further increase the accelerator, thereby achieving the speed limit control function.

[0077] In step S1404, an alarm command is sent to the vehicle's in-vehicle infotainment system to control the in-vehicle infotainment system to enter alarm mode;

[0078] In some possible implementations, the alarm mode may include: the indicator light on the display panel changing from green to red, and a buzzer installed in the vehicle sounding to alert the driver, thereby providing real-time information about the vehicle's current speed and improving the interaction between the driver and the vehicle.

[0079] In step S1405, based on the decelerated pulse frequency signal, it is determined whether the decelerated pulse frequency signal is less than the second preset pulse frequency. If it is less than the second preset pulse frequency, step S1407 is executed; otherwise, step S1406 is executed.

[0080] In step S1406, the mechanical speed limiter continues to control the accelerator pedal travel of the vehicle, and the in-vehicle infotainment system continues to execute the alarm mode.

[0081] In this step, since the acquired pulse frequency signal is less than the first preset pulse frequency but greater than the second preset pulse frequency, the vehicle speed corresponding to the second preset pulse frequency is less than the vehicle speed corresponding to the first preset pulse frequency. However, the range of difference between the two vehicle speeds is preset differently for different vehicle models.

[0082] For example, for imported trucks, the speed difference between the two can be between 5 km / h and 25 km / h. Obviously, when the pulse frequency signal is between the speed corresponding to the first preset pulse frequency and the second preset pulse frequency, the corresponding speed has not yet entered the safe period. Therefore, the mechanical speed limiter continues to control the accelerator pedal travel of the vehicle, and the in-vehicle infotainment system continues to execute the alarm mode, so that the vehicle continues to decelerate, so as to bring the vehicle into a safe state in time.

[0083] In step S1407, a second control request is sent to the mechanical speed limiter of the vehicle to cause the mechanical speed limiter to release the control of the accelerator pedal travel.

[0084] In this step, the second control request is for the mechanical speed limiter to release the control over the accelerator pedal travel, so that the accelerator pedal travel returns to normal, allowing the driver to further accelerate.

[0085] In step S1408, a switching command is sent to the vehicle's in-vehicle infotainment system, and the in-vehicle infotainment system switches from alarm mode to normal mode.

[0086] In possible implementation methods, the normal mode may include: the indicator light on the display panel changing from red to green, and the buzzer installed in the vehicle stopping its alarm, so as to provide the driver with real-time information on the vehicle's current speed and improve the interaction between the driver and the vehicle.

[0087] Thus, by adopting the above technical solution, for vehicles without an EMS engine management system, the current status parameters of the vehicle can be obtained in real time. These current status parameters include at least the current vehicle speed signal and the current vehicle speed signal status information. Then, according to the signal conversion formula, the current vehicle speed signal is converted into a pulse frequency signal. The pulse frequency signal is hardwired and transmitted to the mechanical speed limiter. The mechanical speed limiter performs logical judgment based on the input pulse frequency signal. When the pulse frequency signal is greater than a preset pulse frequency, the corresponding mechanical control is applied to the accelerator pedal travel, preventing the driver from further increasing the accelerator. This achieves automatic limitation of the vehicle's maximum speed, allowing the vehicle to enter a safe state in a timely manner, while also avoiding the possibility of axle breakage due to excessive speed.

[0088] By sending different commands to the vehicle's in-vehicle infotainment system, the system can switch between alarm mode and normal mode, providing real-time reminders to the driver about the vehicle's speed. This improves the interaction between the driver and the vehicle and avoids the impact on the driver's normal driving experience caused by the vehicle speed limit control method described in this invention. It automatically limits the vehicle's maximum speed, ensuring the vehicle enters a safe state in a timely manner, while also preventing axle breakage problems that may occur due to excessive speed.

[0089] Example 3

[0090] Based on the same inventive concept, this disclosure also provides a vehicle speed limiting control device. Figure 3 This is a block diagram illustrating a vehicle speed limit control device according to an exemplary embodiment, such as... Figure 3 As shown, the vehicle speed limit control device 300 includes:

[0091] The first acquisition module 301 is configured to acquire the vehicle's current speed signal and current speed signal status information;

[0092] The first determining module 302 is configured to determine the control strategy corresponding to the vehicle control strategy information based on the pulse frequency signal obtained by the information conversion module and the preset pulse frequency information.

[0093] The first control module 303 is configured to control the vehicle based on the control strategy corresponding to the vehicle control strategy information;

[0094] Optionally, the first control module 303 includes:

[0095] The information conversion module is configured to calculate and convert the current vehicle speed signal and the current vehicle speed signal status information obtained by the first acquisition module into a pulse frequency signal;

[0096] The second acquisition submodule is configured to acquire the status information of the vehicle's in-vehicle infotainment system.

[0097] The second determining submodule is configured to determine the state transition of the in-vehicle infotainment system based on the state information of the in-vehicle infotainment system obtained by the second obtaining submodule.

[0098] The second control submodule is configured to control the state transition of the in-vehicle infotainment system based on the state information of the in-vehicle infotainment system.

[0099] Optionally, the first control module 303 further includes:

[0100] The third acquisition submodule is configured to acquire the status information of the vehicle's mechanical speed limiter controller.

[0101] The second determining submodule is configured to determine the mechanical speed limiter's execution state on the accelerator pedal based on the mechanical speed limiter status information obtained by the second obtaining submodule.

[0102] The second control submodule is configured to control the accelerator pedal by the mechanical speed limiter based on the status information of the mechanical speed limiter.

[0103] Example 4

[0104] Based on the same inventive concept, this disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the vehicle speed limit control method provided in this disclosure.

[0105] Example 5

[0106] Figure 4 This is a block diagram illustrating a device for vehicle speed limit control according to an exemplary embodiment; as shown below. Figure 4 As shown, vehicle 400 may include one or more of the following components: processing component 402, power component 404, multimedia component 406, audio component 408, memory 410, input / output (I / O) interface 412, sensor component 414, and communication component 416.

[0107] Processing component 402 typically controls the overall operation of vehicle 400, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 402 may include one or more processors 420 to execute instructions to complete all or part of the steps of the aforementioned overtaking and lane-changing method. Furthermore, processing component 402 may include one or more modules to facilitate interaction between processing component 402 and other components. For example, processing component 402 may include a multimedia module to facilitate interaction between multimedia component 406 and processing component 402.

[0108] The electrical component 404 provides power to various components of the vehicle 400. The electrical component 404 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the vehicle 400.

[0109] The multimedia component 406 includes a screen that provides an output interface between the vehicle 400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 406 includes a front-facing camera and / or a rear-facing camera. When the vehicle 400 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0110] Audio component 408 is configured to output and / or input audio signals. For example, audio component 408 includes a microphone (MIC) configured to receive external audio signals when vehicle 400 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 410 or transmitted via communication component 416. In some embodiments, audio component 408 also includes a speaker for outputting audio signals.

[0111] Memory 410 is configured to store various types of data to support operation on vehicle 400. Examples of this data include instructions for any application or method operating on vehicle 400, contact data, phonebook data, messages, pictures, videos, etc. Memory 410 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0112] I / O interface 412 provides an interface between processing component 402 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0113] Sensor assembly 414 includes one or more sensors for providing state assessments of various aspects of vehicle 400. For example, sensor assembly 414 may detect the on / off state of vehicle 400, the relative positioning of components such as the display and keypad of vehicle 400, changes in the position of vehicle 400 or a component of vehicle 400, the presence or absence of user contact with vehicle 400, the orientation or acceleration / deceleration of vehicle 400, and temperature changes of vehicle 400. Sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 414 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0114] Communication component 416 is configured to facilitate wired or wireless communication between vehicle 400 and other devices. Vehicle 400 can access wireless networks based on communication standards, such as WiFi, 4G, or 5G, or combinations thereof. In one exemplary embodiment, communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 416 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0115] In an exemplary embodiment, the vehicle 400 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the speed limit control method described above.

[0116] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 410 including instructions, which can be executed by a processor 420 of a vehicle 400 to complete the above-described overtaking and lane-changing method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0117] Example 6

[0118] See Figure 5 , Figure 5This is a functional block diagram of a vehicle according to an exemplary embodiment. The vehicle 600 can be configured for fully or partially automated driving modes. For example, the vehicle 600 can acquire environmental information about its surroundings through a perception system 620, and derive an automated driving strategy based on the analysis of the surrounding environmental information to achieve fully automated driving, or present the analysis results to the user to achieve partially automated driving.

[0119] Vehicle 600 may include various subsystems, such as infotainment system 610, perception system 620, decision control system 630, drive system 640, and computing platform 650. Optionally, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of vehicle 600 may be interconnected via wired or wireless means.

[0120] In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

[0121] Communication system 611 may include a wireless communication system that can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system may utilize WiFi or a wireless local area network (WLAN) to communicate. In some embodiments, the wireless communication system may utilize an infrared link, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols, such as various vehicle communication systems, may also be used. For example, the wireless communication system may include one or more dedicated short-range communications (DSRC) devices that can enable public and / or private data communication between vehicles and / or roadside stations.

[0122] The entertainment system 612 may include a display device, a microphone, and speakers, allowing users to listen to the radio and play music in the vehicle; or connect their mobile phones to the vehicle and project their screens onto the display device, which may be touch-sensitive, allowing users to operate the system by touching the screen.

[0123] In some cases, the user's voice signal can be acquired through a microphone, and based on the analysis of the voice signal, the user can control certain aspects of the vehicle 600, such as adjusting the interior temperature. In other cases, music can be played to the user through the audio system.

[0124] The navigation system 613 may include map services provided by a map provider to provide navigation for the vehicle 600. The navigation system 613 can be used in conjunction with the vehicle's global positioning system 621 and inertial measurement unit 622. The map services provided by the map provider can be two-dimensional maps or high-precision maps.

[0125] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system 621 (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU) 622, a lidar 623, a millimeter-wave radar 624, an ultrasonic radar 625, and a camera device 626. The perception system 620 may also include sensors for the internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a critical function for the safe operation of the vehicle 600.

[0126] The Global Positioning System 621 is used to estimate the geographical location of vehicle 600.

[0127] The inertial measurement unit 622 is used to sense changes in the pose of the vehicle 600 based on inertial acceleration. In some embodiments, the inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.

[0128] The lidar 623 uses lasers to sense objects in the environment in which the vehicle 600 is located. In some embodiments, the lidar 623 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0129] The millimeter-wave radar 624 uses radio signals to sense objects in the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 can also be used to sense the speed and / or direction of travel of objects.

[0130] The ultrasonic radar 625 can use ultrasonic signals to sense objects around the vehicle 600.

[0131] The camera device 626 is used to capture image information of the surrounding environment of the vehicle 600. The camera device 626 may include a monocular camera, a binocular camera, a structured light camera, and a panoramic camera, etc. The image information acquired by the camera device 626 may include still images or video stream information.

[0132] The decision control system 630 includes a computing system 631 that analyzes and makes decisions based on information acquired by the sensing system 620. The decision control system 630 also includes a vehicle controller 632 that controls the power system of the vehicle 600, as well as a steering system 633, a throttle 634, and a braking system 635 for controlling the vehicle 600.

[0133] The computing system 631 is operable to process and analyze various information acquired by the perception system 620 to identify targets, objects, and / or features in the environment surrounding the vehicle 600. Targets may include pedestrians or animals, and objects and / or features may include traffic signals, road boundaries, and obstacles. The computing system 631 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other techniques. In some embodiments, the computing system 631 may be used to map the environment, track objects, estimate object speeds, etc. The computing system 631 can analyze the acquired information and derive a control strategy for the vehicle.

[0134] The vehicle controller 632 can be used to coordinate the control of the vehicle's power battery and engine 641 to improve the power performance of the vehicle 600.

[0135] The steering system 633 is operable to adjust the forward direction of the vehicle 600. For example, in one embodiment, it can be a steering wheel system.

[0136] Throttle 634 is used to control the operating speed of engine 641 and thus the speed of vehicle 600.

[0137] Braking system 635 is used to control the deceleration of vehicle 600. Braking system 635 can use friction to slow down wheel 644. In some embodiments, braking system 635 can convert the kinetic energy of wheel 644 into electric current. Braking system 635 may also take other forms to slow down the rotational speed of wheel 644 to control the speed of vehicle 600.

[0138] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission system 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air-compressed engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine 641 converts the energy source 642 into mechanical energy.

[0139] Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 642 can also provide energy to other systems of vehicle 600.

[0140] The drivetrain 643 transmits mechanical power from the engine 641 to the wheels 644. The drivetrain 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the drivetrain 643 may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels 644.

[0141] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651, which can execute instructions 653 stored in a non-transitory computer-readable medium such as memory 652. In some embodiments, computing platform 650 may also be multiple computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.

[0142] Processor 651 can be any conventional processor, such as a commercially available CPU. Alternatively, processor 651 may also include a graphics processing unit (GPU), a field-programmable gate array (FPGA), a system-on-a-chip (SoC), an application-specific integrated circuit (ASIC), or a combination thereof. Although Figure 5 The illustrations functionally depict a processor, memory, and other components of a computer within the same block; however, those skilled in the art will understand that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be housed in the same physical enclosure. For example, memory may be a hard disk drive or other storage media located in an enclosure different from that of the computer. Therefore, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor, which performs calculations only relevant to the component's specific function.

[0143] In this embodiment of the disclosure, the processor 651 can execute the vehicle speed limit control method described above.

[0144] In all aspects described herein, processor 651 may be located remotely from the vehicle and communicate wirelessly with the vehicle. In other aspects, some of the processes described herein are executed on a processor located within the vehicle, while others are executed by a remote processor, including taking the necessary steps to perform a single operation.

[0145] In some embodiments, the fourth memory 652 may contain instructions 653 (e.g., program logic) that can be executed by the fourth processor 651 to perform various functions of the vehicle 600. The memory 652 may also contain additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or controlling one or more of the infotainment system 610, perception system 620, decision control system 630, and drive system 640.

[0146] In addition to instruction 653, memory 652 may also store data such as road maps, route information, vehicle position, direction, speed, and other vehicle data, as well as other information. This information can be used by vehicle 600 and computing platform 650 during operation of vehicle 600 in autonomous, semi-autonomous, and / or manual modes.

[0147] The computing platform 650 can control the functions of the vehicle 600 based on inputs received from various subsystems, such as the drive system 640, the perception system 620, and the decision control system 630. For example, the computing platform 650 can utilize inputs from the decision control system 630 to control the steering system 633 to avoid obstacles detected by the perception system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.

[0148] Optionally, one or more of these components may be installed separately from or associated with the vehicle 600. For example, the memory 652 may exist partially or completely separately from the vehicle 600. The components may be communicatively coupled together in a wired and / or wireless manner.

[0149] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 5 This should not be construed as a limitation on the embodiments disclosed herein.

[0150] Optionally, vehicle 600 or its associated perception and computing devices (e.g., computing system 631, computing platform 650) can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of the others, so all identified objects can be considered together to predict the behavior of a single identified object. Vehicle 600 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what steady state the vehicle needs to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered in determining the speed of vehicle 600, such as the lateral position of vehicle 600 in the road, the curvature of the road, the proximity of static and dynamic objects, etc.

[0151] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device can also provide instructions to modify the steering angle of the vehicle 600 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

[0152] The vehicle 600 described above can be any type of vehicle, such as a car, truck, motorcycle, bus, boat, recreational vehicle, train, etc., and this disclosure does not impose any particular limitation.

[0153] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle driving control method described above when executed by the programmable device.

[0154] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0155] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0157] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0158] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0159] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0160] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0161] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0162] Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0163] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle speed limiting control method, characterized in that, include: Obtain the current state parameters of the vehicle, wherein the current state parameters include at least the current vehicle speed signal and the current vehicle speed signal status information; The pulse frequency signal is calculated and determined based on the current vehicle speed signal and the current vehicle speed signal status information; Based on the current state parameters, the configuration information corresponding to the vehicle speed limit is searched and obtained from the vehicle's preset database; wherein, the configuration information includes a first preset pulse frequency, a second preset pulse frequency, a first vehicle control strategy information, and a second vehicle control strategy information; Based on the pulse frequency signal, the first preset pulse frequency, and the second preset pulse frequency, determine and execute the control strategy corresponding to the vehicle control strategy information; The process of determining and executing a control strategy corresponding to the vehicle control strategy information based on the pulse frequency signal, the first preset pulse frequency, and the second preset pulse frequency includes: If the pulse frequency signal is greater than or equal to the first preset pulse frequency, the vehicle is controlled according to the control strategy corresponding to the first vehicle control strategy information. If the pulse frequency signal is less than the second preset pulse frequency, the vehicle is controlled according to the control strategy corresponding to the second vehicle control strategy information.

2. The vehicle speed limit control method according to claim 1, characterized in that, The step of calculating and determining the pulse frequency signal based on the current vehicle speed signal and the current vehicle speed signal status information includes: The calculation method for determining the pulse frequency signal is as follows: ; In the formula: f is the pulse frequency signal (Hz); V is the current vehicle speed signal (Km / h); L is the number of pulses per kilometer.

3. The vehicle speed limit control method according to claim 1, characterized in that, If the pulse frequency signal is greater than or equal to the first preset pulse frequency, then the vehicle is controlled according to the control strategy corresponding to the first vehicle control strategy information, including: Send a first control request to the vehicle's mechanical speed limiter to control the accelerator pedal travel of the vehicle; An alarm command is sent to the vehicle's infotainment system to control the infotainment system to enter alarm mode.

4. The vehicle speed limit control method according to claim 3, characterized in that, After sending a first control request to the vehicle's mechanical speed limiter to control the accelerator pedal travel, the process includes: If the pulse frequency signal is greater than the second preset pulse frequency, the mechanical speed limiter continues to control the accelerator pedal travel of the vehicle, and the in-vehicle infotainment system continues to execute the alarm mode.

5. The vehicle speed limit control method according to claim 1, characterized in that, If the pulse frequency signal is less than the second preset pulse frequency, then the vehicle is controlled according to the control strategy corresponding to the second vehicle control strategy information, including: A second control request is sent to the vehicle's mechanical speed limiter, wherein... If the mechanical speed limiter is in the state of controlling the accelerator pedal travel, then the mechanical speed limiter releases the control over the accelerator pedal travel. If the mechanical speed limiter is in a state where the accelerator pedal travel is not controlled, the mechanical speed limiter will not switch states.

6. The vehicle speed limit control method according to claim 5, characterized in that, Also includes: A switching command is sent to the vehicle's in-vehicle infotainment system, wherein, If the in-vehicle infotainment system is in alarm mode, the in-vehicle infotainment system will switch from alarm mode to normal mode. If the in-vehicle infotainment system is in normal mode, the in-vehicle infotainment system mode will not be switched.

7. A vehicle speed limiting control device, characterized in that, include: The first acquisition module is configured to acquire the vehicle's current speed signal and current speed signal status information; The information conversion module is configured to calculate and convert the current vehicle speed signal and the current vehicle speed signal status information obtained by the first acquisition module into a pulse frequency signal; The first determining module is configured to determine the control strategy corresponding to the vehicle control strategy information based on the pulse frequency signal obtained by the information conversion module and the preset pulse frequency information. The first control module is configured to control the vehicle based on the control strategy corresponding to the vehicle control strategy information; The second acquisition submodule is configured to acquire the status information of the vehicle's in-vehicle infotainment system; The second determining submodule is configured to determine the state transition of the in-vehicle infotainment system based on the state information of the in-vehicle infotainment system obtained by the second obtaining submodule; The second control submodule is configured to control the state transition of the in-vehicle infotainment system based on the state information of the in-vehicle infotainment system.

8. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: The steps of implementing the vehicle speed limit control method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the steps of the vehicle speed limit control method according to any one of claims 1 to 6.

10. A chip, characterized in that, It includes a processor and an interface; the processor is used to read instructions to execute the method of any one of claims 1 to 6.

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