A vehicle control method, apparatus, device, and storage medium

Abstract

The application discloses a vehicle control method, device, equipment and storage medium, comprising: determining a first speed limit of a vehicle driving area through an image acquisition device of a target vehicle, and determining a second speed limit of the vehicle driving area through a vehicle navigation system of the target vehicle; if the first speed limit and the second speed limit are inconsistent, obtaining a scene map and environmental information of the vehicle driving area through a cloud platform, and determining whether there is a reliable speed limit in the first speed limit and the second speed limit according to the scene map and the environmental information; if yes, determining a target driving speed according to the reliable speed limit, and controlling the target vehicle to drive based on the target driving speed. The accuracy and reliability of the determined target speed limit of the vehicle driving area are improved, and the driving safety of the vehicle is ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of autonomous driving, and more particularly to a vehicle control method, apparatus, device, and storage medium. Background Technology

[0002] With the development of vehicle intelligence and active safety technologies, improving driving comfort, intelligence, and safety has become a crucial research direction for the vehicle industry. Currently, customer demand for intelligent vehicles is increasing year by year in regions like Europe. However, speed limit signs in Europe differ significantly from those in China, especially regarding many hidden speed limit signs. Therefore, current systems lack intelligent speed limit control based on actual road conditions. Because different roads have different speed limits, current speed limit control systems struggle to adapt to different road conditions. Furthermore, existing speed limit control systems in Europe do not rely on real-time road speed limit information; they simply control the maximum speed limit. Current in-vehicle GPS (Global Positioning System) systems do not provide speed control functionality, offering only simple navigation or speed limit reminders. European cruise control systems only allow manual selection of a set speed and cannot automatically adjust based on road speed limits. Therefore, obtaining accurate speed limit information for the roads where vehicles are traveling, and thus reasonably constraining vehicle speed to ensure driving safety, is a problem that needs to be solved. Summary of the Invention

[0003] This invention provides a vehicle control method, apparatus, device, and storage medium that can acquire accurate speed limit information of the road on which the vehicle travels, thereby reasonably constraining the vehicle's speed and ensuring vehicle driving safety.

[0004] According to one aspect of the present invention, a vehicle control method is provided, the method comprising:

[0005] The first speed limit of the vehicle's driving area is determined by the image acquisition device of the target vehicle, and the second speed limit of the vehicle's driving area is determined by the vehicle navigation system of the target vehicle.

[0006] If the first speed limit and the second speed limit are inconsistent, the scene map and environmental information of the vehicle's driving area are obtained through the cloud platform, and based on the scene map and the environmental information, it is determined whether there is a reliable speed limit between the first speed limit and the second speed limit.

[0007] If so, the target driving speed is determined based on the reliable speed limit, and the target vehicle is controlled to drive based on the target driving speed.

[0008] According to another aspect of the present invention, a vehicle control device is provided, the device comprising:

[0009] The candidate speed limit determination module is used to determine the first speed limit of the vehicle's driving area through the image acquisition device of the target vehicle, and to determine the second speed limit of the vehicle's driving area through the vehicle navigation system of the target vehicle.

[0010] A reliable speed limit determination module is used to obtain scene map and environmental information of the vehicle's driving area through a cloud platform if the first speed limit and the second speed limit are inconsistent, and determine whether there is a reliable speed limit among the first speed limit and the second speed limit based on the scene map and the environmental information.

[0011] The target driving speed determination module is used to determine the target driving speed based on the reliable speed limit if the target speed is specified, and to control the driving of the target vehicle based on the target driving speed.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0017] The technical solution of this invention determines a first speed limit for the vehicle's driving area using an image acquisition device for the target vehicle, and a second speed limit for the same area using the vehicle's navigation system. If the first and second speed limits are inconsistent, a scene map and environmental information of the vehicle's driving area are obtained through a cloud platform. Based on the scene map and environmental information, it is determined whether a reliable speed limit exists between the first and second speed limits. If so, the target driving speed is determined based on the reliable speed limit, and the target vehicle's driving is controlled based on this target speed. This solution solves the problem that, when an intelligent vehicle determines the speed limit for its driving area using an image acquisition device and a vehicle navigation system installed on the vehicle, it cannot obtain an accurate speed limit in adverse environments, when the vehicle navigation system fails to update the navigation map in a timely manner, or when the speed limit information corresponding to the sign image is implicit and the vehicle navigation system fails to update the navigation map in a timely manner. It enables the accurate acquisition of target speed limits for vehicle driving areas, thereby reasonably constraining vehicle speed and allowing for constant-speed driving based on road speed limits and requirements. This improves the accuracy and reliability of the determined target speed limits for vehicle driving areas, ensuring vehicle driving safety.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0020] Figure 1 This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention;

[0021] Figure 2 This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in Embodiment 3 of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "candidate" and "target," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "etc.", and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] Example 1

[0027] Figure 1 This invention provides a flowchart of a vehicle control method according to Embodiment 1. This embodiment is applicable to situations where a target driving speed of a vehicle is determined and the vehicle is controlled to travel at that target speed. It is particularly applicable to situations where the target driving speed of a target vehicle is determined through an image acquisition device, a vehicle navigation system, and a cloud platform, and the vehicle is controlled to travel at that target speed. This method can be executed by a vehicle control device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0028] S110. Determine the first speed limit of the vehicle's driving area using the target vehicle's image acquisition equipment, and determine the second speed limit of the vehicle's driving area using the target vehicle's vehicle navigation system.

[0029] The image acquisition device can be a camera installed on the target vehicle. The first speed limit refers to the vehicle speed limit determined after recognizing the image of the speed limit sign in the vehicle's driving area captured by the image acquisition device. The second speed limit refers to the vehicle speed limit in the vehicle's driving area determined by the vehicle navigation system.

[0030] Specifically, image acquisition equipment installed on the target vehicle acquires real-time image information of the vehicle's driving area, analyzes and identifies this information, and extracts images of speed limit signs for the driving area. Based on these sign images, the first speed limit for the driving area is determined. Finally, the target vehicle's navigation system determines the second speed limit for the entire driving area.

[0031] S120. If the first speed limit and the second speed limit are inconsistent, the scene map and environmental information of the vehicle's driving area are obtained through the cloud platform, and based on the scene map and environmental information, it is determined whether there is a reliable speed limit between the first speed limit and the second speed limit.

[0032] The scene map can include road lines, streetlights, and speed limit signs in the vehicle's driving area. Environmental information includes weather and sunlight information for the vehicle's driving area.

[0033] It should be noted that the image clarity of signs captured by image acquisition devices is easily affected by weather or time. Therefore, in severe weather conditions, such as rain or snow, the initial speed limit determined by the image acquisition device may differ from the actual speed limit in the vehicle's travel area. Furthermore, the vehicle speed limit information corresponding to the sign image acquired by the image acquisition device can be explicit or implicit. Explicit speed limit information includes the corresponding numerical value in the sign image; implicit speed limit information generally does not contain numerical values ​​but is represented by an abstract image. When the speed limit information in the sign image is implicit, the initial speed limit obtained by the image acquisition device often contains errors. Delayed updates to the navigation map in the vehicle navigation system can also lead to discrepancies between the second speed limit determined by the vehicle's navigation system and the actual speed limit in the vehicle's travel area.

[0034] Specifically, the first and second speed limits are compared for consistency. If they are inconsistent, a scene map and environmental information of the vehicle's driving area are obtained from the cloud platform. The environmental information is used to determine whether the first speed limit is a reliable speed limit. If the environmental information indicates good weather conditions and sufficient sunlight in the driving area, the first speed limit is determined to be a reliable speed limit; if the environmental information indicates severe weather or insufficient sunlight, the first speed limit is determined not to be a reliable speed limit. If the vehicle speed limit information corresponding to the sign image obtained by the image acquisition device is implicit speed limit information, the first speed limit is determined not to be a reliable speed limit.

[0035] Based on the comparison results between the scene map and the navigation map provided by the vehicle navigation system, determine whether the second speed limit is a reliable speed limit. Figure 1 If the speed limit is consistent with the scene map and the navigation map provided by the vehicle navigation system, then the second speed limit is determined to be a reliable speed limit; if the scene map and the navigation map provided by the vehicle navigation system are inconsistent, then the second speed limit is determined to be a non-reliable speed limit.

[0036] For example, it can be determined whether a reliable speed limit exists between the first speed limit and the second speed limit by the following sub-steps:

[0037] S1201. Determine whether the image information acquired by the image acquisition device is reliable based on the environmental information. If so, determine the first speed limit as the reliable speed limit.

[0038] If the environmental information determines that the weather conditions in the vehicle's driving area are good and there is sufficient sunlight, then the image information acquired by the image acquisition device is determined to be reliable, and the first speed limit is determined to be a reliable speed limit. If the environmental information determines that the weather conditions in the vehicle's driving area are bad or there is insufficient sunlight, then the image information acquired by the image acquisition device is determined to be unreliable, and the first speed limit is determined to be a unreliable speed limit.

[0039] For example, a method for determining whether the image information acquired by the image acquisition device is reliable can be: determining the weather information and visibility information of the vehicle's driving area based on environmental information; and determining whether the image information acquired by the image acquisition device is reliable based on the weather information and visibility information.

[0040] The above solution can verify the reliability of the image information collected by the image acquisition device based on the information provided by the cloud platform. If the image information is reliable, the target speed of the target vehicle can be determined based on the image information, thereby improving the accuracy of the target speed.

[0041] S1202. If not, then perform a consistency comparison between the scene map and the navigation map of the vehicle navigation system. If the navigation map and the scene map are consistent... Figure 1 If the speed limit is consistent, then the second speed limit is determined to be the reliable speed limit.

[0042] Specifically, if it is determined that the first speed limit is not a reliable speed limit, then a consistency comparison is performed between the scene map and the navigation map of the vehicle navigation system. If the navigation map and the scene map are consistent... Figure 1 If the navigation map and the scene map are consistent, then the second speed limit is determined to be a reliable speed limit. If the navigation map and the scene map are inconsistent, then the second speed limit is determined to be a non-reliable speed limit.

[0043] It is understandable that verifying the image information collected by the image acquisition device based on the environmental information provided by the cloud platform, and verifying the navigation map of the vehicle navigation system based on the scene map provided by the cloud platform, can determine the reliability of the image information and the navigation map. Based on the reliability of the image information and the navigation map, a reliable speed limit can be determined from the first speed limit and the second speed limit, which can improve the accuracy of the reliable speed limit and ensure the driving safety of the vehicle.

[0044] S130. If so, the target driving speed is determined based on the reliable speed limit, and the target vehicle is controlled to drive based on the target driving speed.

[0045] For example, a method for determining the target driving speed based on the reliable speed limit speed may be: determining whether the vehicle speed of the target vehicle is greater than the reliable speed limit speed; if so, then using the reliable speed limit speed as the target driving speed; if not, then using the vehicle speed as the target driving speed.

[0046] Specifically, if a reliable speed limit exists between the first and second speed limits, that reliable speed limit is determined from the first and second speed limits. The target vehicle's speed is determined and compared to the reliable speed limit. If the target vehicle's speed is less than or equal to the reliable speed limit, that speed is used as the target speed, and the vehicle's movement is controlled based on that target speed. If the target vehicle's speed is greater than the reliable speed limit, it is determined whether the target vehicle is in adaptive cruise control mode. If the target vehicle is in adaptive cruise control mode, the reliable speed limit is used as the target speed, and the central domain control unit adjusts the vehicle's speed to the target speed so that the target vehicle continues to travel at the target speed. If the target vehicle is not in adaptive cruise control mode, the Electronic Stability Control (ESC) system controls the target vehicle to continue traveling at the target speed.

[0047] Preferably, the method for determining the target driving speed based on the reliable speed limit can also be as follows: determine whether the vehicle speed of the target vehicle is greater than the reliable speed limit; if so, determine the speed difference between the vehicle speed and the reliable speed limit; issue an overspeed warning message and a suggested driving speed based on the speed difference and the reliable speed limit, so as to determine the target driving speed based on the driver's selection operation information of the suggested driving speed.

[0048] The speeding warning message can include text and voice information. The text message can include the vehicle's current speed and the target speed limit. The suggested speed can be less than or equal to the target speed limit.

[0049] Specifically, it is determined whether the target vehicle's speed exceeds the reliable speed limit. If the vehicle's speed exceeds the reliable speed limit, the speed difference between the vehicle's speed and the reliable speed limit is determined. Based on the speed difference, the playback volume of the overspeed warning message is determined, and the overspeed warning message and suggested driving speed are played based on the playback volume. The target driving speed is then determined based on the driver's selection of the suggested driving speed.

[0050] The above-mentioned solution can promptly remind the driver of relevant information regarding speeding when the target vehicle is speeding, so that the driver can react in time, choose an appropriate driving speed, and ensure driving safety.

[0051] The technical solution provided in this embodiment determines a first speed limit for the vehicle's driving area using the target vehicle's image acquisition device and a second speed limit using the target vehicle's navigation system. If the first and second speed limits are inconsistent, a scene map and environmental information of the vehicle's driving area are obtained through a cloud platform. Based on the scene map and environmental information, it is determined whether a reliable speed limit exists between the first and second speed limits. If so, the target driving speed is determined based on the reliable speed limit, and the target vehicle's driving is controlled based on the target driving speed. This solution solves the problem that, when an intelligent vehicle determines the speed limit of its driving area using the image acquisition device and navigation system installed on the vehicle, it cannot obtain an accurate vehicle speed limit in adverse environments, when the navigation system fails to update the navigation map in a timely manner, or when the speed limit information corresponding to the sign image is implicit and the navigation system fails to update the navigation map in a timely manner. It enables the accurate acquisition of target speed limits for vehicle driving areas, thereby reasonably constraining vehicle speed and allowing for constant-speed driving based on road speed limits and requirements. This improves the accuracy and reliability of the determined target speed limits for vehicle driving areas, ensuring vehicle driving safety.

[0052] Example 2

[0053] Figure 2 This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention. This embodiment optimizes the above embodiment and provides a preferred implementation method for determining a reliable speed limit based on road condition information, scene map, and environmental information of the vehicle's driving area obtained from a cloud platform when neither the first speed limit nor the second speed limit is a reliable speed limit. Specifically, as shown... Figure 2 As shown, the method includes:

[0054] S210. Determine the first speed limit of the vehicle's driving area using the target vehicle's image acquisition equipment, and determine the second speed limit of the vehicle's driving area using the target vehicle's vehicle navigation system.

[0055] S220. If the first speed limit and the second speed limit are inconsistent, the scene map and environmental information of the vehicle's driving area are obtained through the cloud platform, and based on the scene map and environmental information, it is determined whether there is a reliable speed limit between the first speed limit and the second speed limit.

[0056] S230. If so, the target driving speed is determined based on the reliable speed limit, and the target vehicle is controlled to drive based on the target driving speed.

[0057] S240. If not, obtain road condition information of the vehicle's driving area through the cloud platform, and determine the candidate speed limit based on the scene map and road condition information.

[0058] Traffic information can include congestion and construction information. Congestion information can be expressed as a road congestion index for the area where vehicles are traveling. Different traffic conditions correspond to different permissible vehicle speeds.

[0059] Specifically, if neither the first nor the second speed limit is a reliable speed limit, road condition information for the vehicle's operating area is obtained through the cloud platform. Based on the scene map, the permitted vehicle speed for the corresponding road condition area is determined, and this permitted speed is used as the candidate speed limit.

[0060] S250. Adjust the candidate speed limit based on environmental information, take the adjusted candidate speed limit as the reliable speed limit, determine the target driving speed based on the reliable speed limit, and control the target vehicle's driving based on the target driving speed.

[0061] It should be noted that in harsh environments or environments with insufficient sunlight, the speed limit for vehicles often needs to be adjusted to ensure driving safety.

[0062] Specifically, if environmental information determines that the weather conditions in the vehicle's operating area are good and there is sufficient sunshine, then the candidate speed limit is determined as the reliable speed limit. If environmental information determines that the weather conditions in the vehicle's operating area are bad, then the reduction value for the candidate speed limit is determined based on the severity of the weather conditions in the vehicle's operating area, and the reduced candidate speed limit is taken as the reliable speed limit. Alternatively, if environmental information determines that there is insufficient sunshine in the vehicle's operating area, then the reduction value for the candidate speed limit is determined based on the visibility information in the vehicle's operating area, and the reduced candidate speed limit is taken as the reliable speed limit. The target driving speed is determined based on the reliable speed limit, and the target vehicle's movement is controlled based on the target driving speed.

[0063] The technical solution of this embodiment determines a first speed limit for the vehicle's driving area using the target vehicle's image acquisition device and a second speed limit for the same area using the target vehicle's navigation system. If the first and second speed limits are inconsistent, a scene map and environmental information of the vehicle's driving area are obtained through a cloud platform. Based on the scene map and environmental information, it is determined whether a reliable speed limit exists between the first and second speed limits. If so, a target driving speed is determined based on the reliable speed limit, and the target vehicle is controlled to drive based on the target driving speed. If not, road condition information of the vehicle's driving area is obtained through a cloud platform, and candidate speed limits are determined based on the scene map and road condition information. The candidate speed limits are adjusted based on the environmental information, and the adjusted candidate speed limits are used as reliable speed limits. The target driving speed is then determined based on the reliable speed limit, and the target vehicle is controlled to drive based on the target driving speed. The above solution, when neither the first speed limit determined by the target vehicle's image acquisition equipment nor the second speed limit determined by the vehicle navigation system can be used as a reliable speed limit, can determine a reliable speed limit based on road condition information, scene maps, and environmental information obtained from the cloud platform. This fully considers the impact of environmental and road condition information on the vehicle's speed limit, ensuring that the obtained reliable speed limit conforms to the actual situation of the vehicle's driving area. This improves the reliability of the target speed limit determined based on the reliable speed limit and better guarantees the safety of vehicle driving.

[0064] Example 3

[0065] Figure 3 This is a schematic diagram of a vehicle control device according to Embodiment 3 of the present invention. This embodiment is applicable to situations where a target driving speed of the vehicle is determined and the vehicle is controlled to travel at that target speed. Figure 3 As shown, the vehicle control device includes: a candidate speed limit determination module 310, a reliable speed limit determination module 320, and a target driving speed determination module 330.

[0066] Among them, the candidate speed limit determination module 310 is used to determine the first speed limit of the vehicle driving area through the image acquisition device of the target vehicle, and to determine the second speed limit of the vehicle driving area through the vehicle navigation system of the target vehicle.

[0067] The reliable speed limit determination module 320 is used to obtain the scene map and environmental information of the vehicle driving area through the cloud platform if the first speed limit and the second speed limit are inconsistent, and determine whether there is a reliable speed limit between the first speed limit and the second speed limit based on the scene map and environmental information.

[0068] The target driving speed determination module 330 is used to determine the target driving speed based on the reliable speed limit if the target speed is so, and to control the driving of the target vehicle based on the target driving speed.

[0069] The technical solution provided in this embodiment determines a first speed limit for the vehicle's driving area using the target vehicle's image acquisition device and a second speed limit using the target vehicle's navigation system. If the first and second speed limits are inconsistent, a scene map and environmental information of the vehicle's driving area are obtained through a cloud platform. Based on the scene map and environmental information, it is determined whether a reliable speed limit exists between the first and second speed limits. If so, the target driving speed is determined based on the reliable speed limit, and the target vehicle's driving is controlled based on the target driving speed. This solution solves the problem that, when an intelligent vehicle determines the speed limit of its driving area using the image acquisition device and navigation system installed on the vehicle, it cannot obtain an accurate vehicle speed limit in adverse environments, when the navigation system fails to update the navigation map in a timely manner, or when the speed limit information corresponding to the sign image is implicit and the navigation system fails to update the navigation map in a timely manner. It enables the accurate acquisition of target speed limits for vehicle driving areas, thereby reasonably constraining vehicle speed and allowing for constant-speed driving based on road speed limits and requirements. This improves the accuracy and reliability of the determined target speed limits for vehicle driving areas, ensuring vehicle driving safety.

[0070] An exemplary reliable speed limit determination module 320 includes:

[0071] The first reliability determination unit is used to determine whether the image information acquired by the image acquisition device is reliable based on environmental information. If so, the first speed limit is determined to be the reliable speed limit.

[0072] The second reliability determination unit is used to perform a consistency comparison between the scene map and the navigation map of the vehicle navigation system if the condition is not met; otherwise, the navigation map and the scene map are compared. Figure 1 If the speed limit is consistent, then the second speed limit is determined to be the reliable speed limit.

[0073] For example, the first reliability determination unit is specifically used for:

[0074] Determine the weather and visibility information for the vehicle's operating area based on environmental information;

[0075] The reliability of image information acquired by the image acquisition device is determined based on weather and visibility information.

[0076] For example, the above-mentioned vehicle control device further includes:

[0077] The candidate speed limit determination module is used to obtain road condition information of the vehicle's driving area through the cloud platform if there is no reliable speed limit information between the first speed limit and the second speed limit, and to determine the candidate speed limit based on the scene map and road condition information.

[0078] The candidate speed limit adjustment module is used to adjust the candidate speed limit based on environmental information, take the adjusted candidate speed limit as the reliable speed limit, determine the target driving speed based on the reliable speed limit, and control the target vehicle's driving based on the target driving speed.

[0079] For example, the target driving speed determination module 330 is specifically used for:

[0080] Determine whether the target vehicle's speed exceeds the reliable speed limit;

[0081] If so, the reliable speed limit will be used as the target driving speed;

[0082] If not, then the vehicle's speed will be used as the target speed.

[0083] For example, the target driving speed determination module 330 is also specifically used for:

[0084] Determine whether the target vehicle's speed exceeds the reliable speed limit;

[0085] If so, determine the speed difference between the vehicle's speed and the reliable speed limit.

[0086] Based on the speed difference and the reliable speed limit, overspeed warning messages and suggested driving speeds are issued, and the target driving speed is determined based on the driver's selection of the suggested driving speed.

[0087] The vehicle control device provided in this embodiment can be applied to the vehicle control method provided in any of the above embodiments, and has the corresponding functions and beneficial effects.

[0088] Example 4

[0089] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0090] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0091] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0092] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle control methods.

[0093] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0094] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0096] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0097] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0098] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0099] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0100] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0101] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: The first speed limit of the vehicle's driving area is determined by the image acquisition device of the target vehicle, and the second speed limit of the vehicle's driving area is determined by the vehicle navigation system of the target vehicle. The first speed limit refers to the vehicle speed limit determined after recognizing the vehicle speed limit information corresponding to the speed limit sign image of the vehicle driving area captured by the image acquisition device. The vehicle speed limit information can be explicit or implicit; the sign image corresponding to the explicit speed limit information contains the number corresponding to the vehicle speed limit information; the sign image corresponding to the implicit speed limit information does not contain the number corresponding to the vehicle speed limit information. If the first speed limit and the second speed limit are inconsistent, the scene map and environmental information of the vehicle's driving area are obtained through the cloud platform, and based on the scene map and the environmental information, it is determined whether there is a reliable speed limit between the first speed limit and the second speed limit. If so, the target driving speed is determined based on the reliable speed limit, and the target vehicle is controlled to drive based on the target driving speed; If not, the road condition information of the vehicle's driving area is obtained through the cloud platform, and a candidate speed limit is determined based on the scene map and the road condition information; the candidate speed limit is the vehicle speed allowed in the vehicle driving area corresponding to the road condition information. The candidate speed limit is adjusted according to the environmental information, and the adjusted candidate speed limit is taken as the reliable speed limit. The target driving speed is determined according to the reliable speed limit, and the target vehicle is controlled to drive based on the target driving speed. The step of determining whether a reliable speed limit exists between the first speed limit and the second speed limit based on the scene map and the environmental information includes: Based on the environmental information, determine whether the image information acquired by the image acquisition device is reliable; if so, determine that the first speed limit is a reliable speed limit. If not, then the scene map and the navigation map of the vehicle navigation system are compared for consistency. If the navigation map and the scene map are consistent, then the second speed limit is determined to be a reliable speed limit. The step of determining whether the image information acquired by the image acquisition device is reliable also includes: If the vehicle speed limit information corresponding to the sign image obtained by the image acquisition device is implicit speed limit information, then it is determined that the first speed limit is not a reliable speed limit.

2. The method according to claim 1, characterized in that, Determining the reliability of image information acquired by the image acquisition device based on the environmental information includes: Based on environmental information, determine the weather and visibility information for the vehicle's operating area; The reliability of the image information acquired by the image acquisition device is determined based on the weather information and the visibility information.

3. The method according to claim 1, characterized in that, Determining the target driving speed based on the reliable speed limit includes: Determine whether the target vehicle's speed is greater than the reliable speed limit; If so, the reliable speed limit will be used as the target driving speed; If not, then the vehicle speed will be taken as the target speed.

4. The method according to claim 1, characterized in that, Determining the target driving speed based on the reliable speed limit includes: Determine whether the target vehicle's speed is greater than the reliable speed limit; If so, then determine the speed difference between the vehicle's travel speed and the reliable speed limit; Based on the speed difference and the reliable speed limit, an overspeed warning message and a suggested driving speed are issued, and the target driving speed is determined based on the driver's selection of the suggested driving speed.

5. A vehicle control device, characterized in that, include: The candidate speed limit determination module is used to determine the first speed limit of the vehicle's driving area through the image acquisition device of the target vehicle, and to determine the second speed limit of the vehicle's driving area through the vehicle navigation system of the target vehicle. The first speed limit refers to the vehicle speed limit determined after recognizing the vehicle speed limit information corresponding to the speed limit sign image of the vehicle driving area captured by the image acquisition device. The vehicle speed limit information can be explicit or implicit; the sign image corresponding to the explicit speed limit information contains the number corresponding to the vehicle speed limit information; the sign image corresponding to the implicit speed limit information does not contain the number corresponding to the vehicle speed limit information. A reliable speed limit determination module is used to obtain scene map and environmental information of the vehicle driving area through a cloud platform if the first speed limit and the second speed limit are inconsistent, and determine whether there is a reliable speed limit among the first speed limit and the second speed limit based on the scene map and the environmental information. A target driving speed determination module is used to determine a target driving speed based on the reliable speed limit if the target speed is specified, and to control the target vehicle to drive based on the target driving speed. The reliable speed limit determination module includes: The first reliability determination unit is used to determine whether the image information acquired by the image acquisition device is reliable based on the environmental information. If so, the first speed limit is determined to be a reliable speed limit. The second reliability determination unit is used to compare the consistency of the scene map and the navigation map of the vehicle navigation system if the latter is not true; if the navigation map and the scene map are consistent, the second speed limit is determined to be a reliable speed limit. The step of determining whether the image information acquired by the image acquisition device is reliable also includes: If the vehicle speed limit information corresponding to the sign image obtained by the image acquisition device is implicit speed limit information, then it is determined that the first speed limit is not a reliable speed limit. The vehicle control device further includes: The candidate speed limit determination module is used to obtain road condition information of the vehicle driving area through the cloud platform if there is no reliable speed limit information between the first speed limit and the second speed limit, and determine the candidate speed limit based on the scene map and the road condition information; the candidate speed limit is the vehicle driving speed allowed in the vehicle driving area corresponding to the road condition information. The candidate speed limit adjustment module is used to adjust the candidate speed limit based on the environmental information, take the adjusted candidate speed limit as the reliable speed limit, determine the target driving speed based on the reliable speed limit, and control the target vehicle to drive based on the target driving speed.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle control method according to any one of claims 1-4.

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