Vehicle speed determination method, device, electronic device and storage medium

Abstract

The present application relates to the field of vehicle control technology and provides a method, device, electronic device, and storage medium for determining vehicle speed. The method comprises: obtaining road information and environmental information of the target vehicle's navigation route; determining the target vehicle's driving speed range based on the road information and environmental information; determining the target vehicle's driving speed within the navigation route based on a pre-set speed selection strategy and driving speed range, and controlling the target vehicle to travel at the driving speed; wherein the speed selection strategy includes minimizing the driving time of the navigation route or minimizing the vehicle energy consumption corresponding to the navigation route. Embodiments of the present application solve the problem of insufficient vehicle driving efficiency within the navigation route.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, electronic device and storage medium for determining vehicle speed. Background Art

[0002] The current new energy cruise control strategy for automobiles is determined in real time based on user settings and the position of the vehicle ahead. For high-end intelligent driving extended-range vehicles, this speed setting solution cannot make an overall plan for the speed setting based on known information, resulting in low vehicle driving efficiency.

[0003] Therefore, the existing technology has the problem that the vehicle is not efficient enough in traveling along the navigation route. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a method, device, electronic device and storage medium for determining vehicle speed to solve the problem of imperfect vehicle speed planning in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a method for determining a vehicle speed is provided, comprising:

[0006] Obtaining road information and environmental information of the target vehicle's navigation route;

[0007] determining a driving speed range of the target vehicle based on the road information and the environmental information;

[0008] Determining the driving speed of the target vehicle in the navigated route according to a preset vehicle speed selection strategy and the driving speed range, and controlling the target vehicle to travel at the driving speed;

[0009] The vehicle speed selection strategy includes that the travel time of the navigated route is the shortest, or the vehicle energy consumption corresponding to the navigated route is the lowest.

[0010] A second aspect of an embodiment of the present application provides a device for determining vehicle speed, comprising:

[0011] An acquisition module is used to obtain road information and environmental information of the target vehicle's navigation route;

[0012] A first determining module is used to determine a driving speed range of the target vehicle based on the road information and the environmental information;

[0013] a second determining module, configured to determine a driving speed of the target vehicle in the navigated route according to a preset vehicle speed selection strategy and the driving speed range, and control the target vehicle to travel at the driving speed;

[0014] The vehicle speed selection strategy includes that the travel time of the navigated route is the shortest, or the vehicle energy consumption corresponding to the navigated route is the lowest.

[0015] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0016] According to a fourth aspect of an embodiment of the present application, a storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0017] The beneficial effects of the embodiments of the present application are:

[0018] By obtaining road information and environmental information of the route navigated by the target vehicle; determining the driving speed range of the target vehicle based on the road information and environmental information; determining the driving speed of the target vehicle in the navigated route based on a pre-set speed selection strategy and the driving speed range, and controlling the target vehicle to travel at the driving speed; wherein the speed selection strategy includes the shortest driving time of the navigated route, or the lowest vehicle energy consumption corresponding to the navigated route; in this way, the determined driving speed range takes into account road information and environmental information factors, avoiding the determined driving speed range being inconsistent with the driving road and environment, and in addition, according to the pre-set shortest driving time strategy or the lowest vehicle energy consumption strategy, the final driving speed of the target vehicle is determined, so that the determined driving speed can not only comply with the driving road and environment, but also comply with the formulated speed selection strategy, that is, meet the user's demand for vehicle speed, achieve the globality and foresight of the vehicle speed plan, improve the formulation plan of the vehicle driving speed, and improve the vehicle driving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a flow chart of a method for determining vehicle speed provided in an embodiment of the present application;

[0021] Figure 2 1 is a schematic structural diagram of a vehicle speed determination device provided in an embodiment of the present application;

[0022] Figure 3 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0024] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0025] In addition, it should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, the elements defined by the phrase "comprises..." do not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the elements.

[0026] A method and device for determining vehicle speed according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0027] Figure 1 FIG. 1 is a flow chart of a method for determining vehicle speed provided in an embodiment of the present application. Figure 1 As shown, the method for determining the vehicle speed includes:

[0028] Step 101: Obtain road information and environmental information of the route navigated by the target vehicle.

[0029] Specifically, the navigation route can be obtained through an in-vehicle navigation system, or can be obtained through a mobile device, such as a mobile phone, a tablet computer, etc. The target vehicle can travel along the navigation route.

[0030] Road information includes but is not limited to: speed limit information, congestion conditions, the distance between the target vehicle and the vehicle ahead on the same road, etc. in the navigation route. However, in order to comprehensively consider factors when setting the vehicle speed, road information should obtain as many types of information as possible.

[0031] Environmental information includes, but is not limited to, weather information and visibility information. Weather information may include temperature, humidity, rain, sunny, and other information.

[0032] It should be noted that to ensure timely speed adjustments, road and environmental information along the navigation route can be periodically acquired. This acquired information can be cached on the device acquiring it to provide data support for speed setting. Furthermore, the device display can display the acquired information or key information, such as weather conditions, speed limits, and headway distances.

[0033] Furthermore, the acquired road and environmental information can be periodically acquired for the entire navigation route, but only information for a preset section of the route is displayed on the display screen. For example, the preset section can be within 10 km of the target vehicle, and information within this distance is available for the driver and passengers to view. Furthermore, the user can switch sections to view information, or the entire navigation route can be displayed. For example, if the weather is consistently sunny throughout the entire navigation route, the display screen will indicate that the weather is sunny throughout the entire route. The displayed information can be customized by the user or set by the navigation provider, and is not specifically limited here.

[0034] Step 102: Determine the driving speed range of the target vehicle based on the road information and the environmental information.

[0035] Specifically, the driving speed range is the safe driving range of the vehicle determined based on road information and environmental information. For example, in rainy or snowy weather, the maximum driving speed range of the target vehicle under one of the environmental information conditions is determined while ensuring that the vehicle does not slip.

[0036] When determining the target vehicle's driving speed range, the road and environmental information ahead can be predicted based on the navigation route information from the navigation start point to the end point, and the congestion situation, speed limit information, road conditions, traffic conditions, weather conditions, etc. on the navigation route can be obtained. The above information can be analyzed and processed to predict future changes in road conditions, and the vehicle's driving speed range can be determined based on this as a reference.

[0037] In this way, the driving speed range of the target vehicle is determined based on the road information and the environmental information, so that the determined driving speed range takes the road information and the environmental information into consideration, thereby avoiding the determined driving speed range being inconsistent with the driving road and the environment.

[0038] Step 103 : determining the driving speed of the target vehicle in the navigated route according to a preset vehicle speed selection strategy and the driving speed range, and controlling the target vehicle to travel at the driving speed.

[0039] The vehicle speed selection strategy includes the shortest driving time of the navigation route, or the lowest vehicle energy consumption corresponding to the navigation route.

[0040] Specifically, the vehicle speed selection strategy is the vehicle speed at which the vehicle has the shortest travel time or the lowest energy consumption in the navigation route.

[0041] It should be noted that the shortest driving time refers to the shortest driving time for the vehicle along the navigation route. It should be noted that when determining the driving time of the vehicle along the navigation route, the vehicle speed within a preset distance segment can be obtained based on the real-time congestion situation of the navigation route. The driving time within the preset distance can be determined based on the vehicle speed and the preset distance. The time required for the navigation route is then integrated and calculated. The time required for each navigation route to reach the navigation destination can be calculated using the above method to determine the shortest time.

[0042] The minimum energy consumption is determined based on navigation road surface information, weather information, temperature information, combined with the user's current extended-range starting battery state of charge (SOC) setting, vehicle power changes, vehicle load, etc., to determine the lowest comprehensive energy consumption on the navigation route and within the cruising speed range. The comprehensive energy consumption is obtained by first multiplying the power consumption by the most recent average electricity cost, then calculating the second product of the fuel consumption and the most recent average fuel cost, and then calculating the sum of the first and second products. Because different vehicle speeds result in different power drops and different range-extended power generation, the vehicle's driving speed is determined by calculating the optimal energy consumption to ensure the vehicle's cruising range.

[0043] It should be noted that after determining the vehicle's speed, if there are drivers or passengers, they can manually adjust the vehicle's speed at any time. The adjustment can be made through a remote control system or by operating the on-board speed control device. No specific restrictions are imposed here.

[0044] This step can determine the target vehicle's driving speed corresponding to the speed selection strategy in the navigation route through the speed selection strategy and the driving speed range, making full use of the hardware resources of high-level intelligent driving vehicles, and making the formulation of vehicle speed predictable and global, so as to further improve the vehicle speed formulation strategy.

[0045] According to the technical solution provided in the embodiment of the present application, by obtaining the road information and environmental information of the route navigated by the target vehicle, the driving speed range of the target vehicle is determined based on the road information and environmental information, and the driving speed of the target vehicle in the navigated route is determined based on the pre-set speed selection strategy and the driving speed range, and the target vehicle is controlled to travel at the driving speed, wherein the speed selection strategy includes the shortest driving time of the navigated route, or the lowest energy consumption of the vehicle corresponding to the navigated route, so that the determined driving speed range takes into account the road information and environmental information factors, and avoids the determined driving speed range being inconsistent with the road and environment being traveled. In addition, the determined driving speed can not only comply with the road and environment being traveled, but also comply with the formulated speed selection strategy, that is, it meets the user's demand for vehicle speed, and realizes that the vehicle speed plan is global and predictive, improves the formulation plan of the vehicle driving speed, and improves the vehicle driving efficiency.

[0046] In some embodiments, the road information includes road speed limit information of the navigated route, the distance between the target vehicle and the preceding vehicle in the same lane, the road surface type, and the curve radius when the navigated route is a curve; the environmental information includes weather information and current visibility information;

[0047] The determining, based on the road information and the environmental information, a driving speed range of the target vehicle includes:

[0048] Determining a first maximum driving speed and a minimum driving speed corresponding to the navigated route according to the road speed limit information and the user's preference information for vehicle speed;

[0049] determining a second maximum driving speed corresponding to the navigated route based on the road surface type, the interval distance, the weather information, the visibility information, and a curve radius of the navigated route when the navigated route is a curve;

[0050] The lowest driving speed is determined as a minimum value of the driving speed range, and the minimum value of the first maximum driving speed and the second maximum driving speed is determined as a maximum value of the driving speed range.

[0051] Road speed limit information refers to the speed limit information specified in the navigation route. For example, the maximum speed limit in a tunnel is 80km / h. The speed limit information within the preset distance of the vehicle can be displayed on the display screen. When the speed limit information is inconsistent with the common speed limit information, it can be prompted by a striking color or icon. For example, if the maximum speed limit in a tunnel is 20km / h in the navigation route information, the speed limit prompt for that section can be used in a striking red color.

[0052] It should be noted that the distance between the target vehicle and the vehicle ahead in the same lane can be obtained by lidar.

[0053] In addition, this embodiment can obtain the distance between a vehicle and a target vehicle that appears within a preset distance. For example, if the distance between a vehicle and a target vehicle is obtained within 80 meters, then the distance will not be detected if it exceeds 80 meters, even if there is a vehicle in front. Alternatively, the distance between the two vehicles can be detected as long as a vehicle in the same lane as the vehicle is detected. There are no specific limitations here. After obtaining the distance between the vehicle and the preceding vehicle, the distance information may not be displayed on the display screen. However, for driving safety, an alarm message can be set to be issued when the distance between the two vehicles is less than a preset value. For example, a prompt message is issued when the distance between the two vehicles is less than 5 meters. The distance setting of the prompt message can be set to different values ​​according to the conditions of different routes.

[0054] The turning radius can be determined by analyzing the navigation route. If the entire route is straight, no prompt or data analysis will be given for the turning radius. If there are turns in the navigation route, the turning radius of each turn will be obtained, and the speed will be judged at each turn to determine the maximum speed when passing through the turn.

[0055] The user's preference information for vehicle speed can be obtained based on the user's driving habits. For example, if the user's driving history data is mostly high-speed driving, the user's preference information for vehicle speed is high-speed driving; if the user's driving history data is mostly low-speed driving, the user's preference information may be low-speed driving.

[0056] The first maximum driving speed is the speed obtained after comparing the user preference information and the speed limit information. For example, in this embodiment, the preference information can be converted into a percentage. In this case, if the user's preference information for the vehicle speed indicates an increase in the driving speed, the percentage is greater than 1; if the user's preference information for the vehicle speed indicates a decrease in the driving speed, the percentage is less than 1. In addition, in this embodiment, the first maximum driving speed can be determined by multiplying the maximum speed limit value corresponding to the road speed limit information by the percentage corresponding to the conversion of the preference information; and the minimum driving speed can be determined by multiplying the minimum speed limit value corresponding to the road speed limit information by the percentage corresponding to the conversion of the preference information.

[0057] By obtaining the interval distance between the target vehicle and the preceding vehicle in the same lane, the driving speed when no collision occurs with the preceding vehicle can be determined based on the interval distance.

[0058] Road surface types include but are not limited to waterlogged roads, snow accumulation, etc.

[0059] After obtaining weather information and road surface type, the adhesion coefficient between the wheel and the ground can be determined according to different weather types and road surface types to determine the vehicle's driving speed under corresponding weather conditions.

[0060] After obtaining visibility information, it can be set that when visibility is less than 1000m, the vehicle speed cannot exceed the preset value. When visibility is less than 500m, the vehicle speed cannot exceed 30km / h, and the fog lights and hazard warning lights should be turned on, but no specific restrictions are made here.

[0061] The minimum value between the first maximum driving speed and the second maximum driving speed is determined as the maximum value of the driving speed range, which ensures that the maximum value of the determined driving speed range does not differ significantly from the road speed limit information, avoids the problem that the determined driving speed range does not conform to the driving road and environment, ensures that the vehicle travels safely, and improves the vehicle driving speed determination strategy.

[0062] In some embodiments, determining the second maximum driving speed corresponding to the navigated route based on the road surface type, the interval distance, the weather information, the visibility information, and the radius of a curve when the navigated route is a curve includes:

[0063] determining a braking speed corresponding to the navigated route based on the road surface type, the interval distance, and a preset correspondence between braking distances and braking speeds for different road surface types;

[0064] determining a maximum speed corresponding to the navigated route based on the visibility information;

[0065] If the navigated route is a curve, determining a maximum safe driving speed corresponding to the curve based on the curve radius, the road surface type, and the weather information;

[0066] When the navigated route is a curve, determining the minimum value among the braking speed, the maximum speed, and the maximum safe driving speed as the second maximum driving speed;

[0067] When the navigated route is not a curve, the minimum value between the predetermined speed and the maximum speed is determined as the second maximum driving speed.

[0068] Specifically, the corresponding relationship between braking distance and braking speed is: braking speed = (braking distance + safety margin) / braking time. The braking distance is the distance required for the vehicle to brake from the maximum speed to a complete stop. The safety margin is the additional braking distance to prevent unexpected situations. The braking time is the time required for the vehicle to fully take effect from the time the brake pedal is depressed.

[0069] The maximum safe driving speed corresponding to the curve can be expressed by the following formula: Among them, v represents the maximum safe driving speed, μ represents the adhesion coefficient between the tire and the road, g represents the acceleration due to gravity, and r represents the turning radius of the vehicle. The meaning of the formula is that when the adhesion coefficient is constant, the maximum safe driving speed is proportional to the turning radius of the vehicle and proportional to the square root of the acceleration due to gravity. For example, when the adhesion coefficient is 0.5, for a turning radius of 60 meters, the maximum safe driving speed is If the vehicle speed exceeds this limit, the friction between the tires and the road will not be sufficient to support the vehicle's movement, and dangerous situations such as skidding and sliding may occur.

[0070] After the user sets the navigation information, the adhesion coefficient μ is found according to the weather conditions and ground type, and the turning radius of the road is obtained according to the navigation road information, thereby calculating the maximum safe vehicle speed on the curve.

[0071] According to the technical solution provided in the embodiment of the present application, the vehicle's driving speed range is determined by the braking speed, the maximum speed corresponding to the visibility information, and the maximum safe driving speed in a curve condition, thereby improving the vehicle's driving speed formulation strategy and improving the vehicle's driving efficiency in the navigation route.

[0072] In some embodiments, when the speed selection strategy includes minimizing the travel time of the navigated route, the road information includes the traffic speed of each road segment in the navigated route; and determining the travel speed of the target vehicle in the navigated route based on the preset speed selection strategy and the travel speed range includes:

[0073] determining a minimum value between a maximum driving speed and the traffic flow speed as the driving speed, wherein the maximum driving speed is a maximum value of the driving speed range;

[0074] The travel time of the navigated route is determined based on the driving speed, and the navigated route is recommended to the user if the travel time is the shortest travel time, wherein the shortest travel time is the shortest travel time of all routes between the starting point and the end point of the navigated route.

[0075] It should be noted that the minimum value of the traffic speed is not limited by the minimum value of the speed limit information.

[0076] In each navigation route, the traffic congestion situation is first obtained, and the traffic speed of each section on the route is obtained. When the maximum value of the driving speed range is less than the minimum value of the traffic speed, the driving speed is the maximum value of the driving speed range, otherwise it is the minimum value of the traffic speed. Then the speed distribution on the navigation route is obtained.

[0077] After obtaining the traffic speed, the cached traffic speed information is updated, and the speed plan is determined based on the latest traffic speed. In order to ensure timely update of traffic speed information, real-time acquisition or scheduled acquisition can be set, but the time interval for scheduled acquisition should be shortened as much as possible.

[0078] The shortest travel time is calculated by integrating the time of a single segment. The time of a single segment = the distance of a single segment / the predicted vehicle speed. The distance of a single segment can be customized by the user or set according to the vehicle model, and no specific restrictions are made here.

[0079] After the navigation route is recommended to the user, the user can change the navigation route. If the user does not change it, the vehicle will travel along the recommended navigation route.

[0080] According to the technical solution provided in the embodiment of the present application, after determining the driving speed range, the vehicle's driving speed is determined in combination with the traffic speed, further improving the vehicle speed formulation strategy.

[0081] In some embodiments, when the vehicle speed selection strategy includes the lowest vehicle energy consumption corresponding to the navigated route, determining the driving speed of the target vehicle in the navigated route according to the preset vehicle speed selection strategy and the driving speed range includes:

[0082] Determining a speed corresponding to minimum vehicle energy consumption based on a preset correspondence between vehicle energy consumption and a driving speed in the navigated route;

[0083] In a case where the speed corresponding to the minimum vehicle energy consumption is within the driving speed range, the speed corresponding to the minimum vehicle energy consumption is determined as the driving speed in the navigated route.

[0084] The strategy for determining the minimum energy consumption has been explained in the previous article and will not be elaborated on here. The principle of determining the vehicle's driving speed in the navigation route based on the speed and driving speed range corresponding to the minimum vehicle energy consumption is similar to the principle of determining the driving speed under the shortest travel time in the previous article and will not be repeated here.

[0085] In some embodiments, after controlling the target vehicle to travel at the travel speed, the method further includes at least one of the following:

[0086] When it is detected that at least one of the road information and the environmental information is updated, updating the driving speed according to the updated road information and environmental information;

[0087] When the vehicle speed selection strategy includes the lowest vehicle energy consumption corresponding to the navigated route, the path between the current position of the target vehicle and the end point of the navigated path is planned based on the cruising range of the target vehicle and the location information of the charging pile to determine that the charging pile is in the planned path.

[0088] Specifically, road information and environmental information can be obtained through lidar, cameras, and on-board rain sensors. The above information can be obtained periodically or in real time, and there is no restriction here. The above information is obtained and fed back to the navigation end. The navigation end adjusts the vehicle's driving speed based on the updated cache data. The specific vehicle driving speed update principle is the same as the speed determination principle mentioned above.

[0089] The following process can be performed in the process of updating the vehicle's driving speed: when detecting a vehicle in front of the same vehicle, the distance to the vehicle in front is measured using a lidar, and the relative speed between the vehicle in front and the own vehicle needs to be measured to detect the actual speed of the vehicle in front.

[0090] In addition, while the vehicle is driving, it is also necessary to consider the driving status and behavior of other vehicles, and use collaborative perception technology to analyze and predict the driving trajectories of other vehicles.

[0091] When selecting the vehicle with the lowest energy consumption, the location information of the charging pile is obtained through the navigation route information, the target vehicle's range and the remaining navigation distance are analyzed, and it is determined whether charging is needed. If charging is needed, the determined navigation route is combined with the route that has charging piles along the way.

[0092] In the technical solution provided in the embodiment of the present application, the navigation route is updated based on the target vehicle's range and the charging pile location information in the navigation route, combined with the determined navigation route. This not only sets a suitable driving speed, but also takes into account the vehicle's range.

[0093] In some embodiments, the target vehicle is controlled to change lanes according to a preset lane change mode, wherein the lane change mode includes an automatic lane change mode or a manual lane change mode;

[0094] The automatic lane change mode refers to sending a prompt message at a preset time before the target vehicle changes lanes. The prompt message is used to prompt the target vehicle to change lanes after a preset time period and to indicate the target vehicle's position after changing lanes.

[0095] Specifically, in the manual lane change mode, upon receiving a lane change operation input by a user, the target vehicle is controlled to perform a lane change operation.

[0096] The lane change mode can be customized by the user, or the system can learn the user's settings and automatically set the lane change mode. The confidence level of the lane change mode is updated based on the user's changes to the lane change mode. When the confidence level drops to a certain value, the lane change mode is no longer automatically set. The lane change mode can also be determined based on the navigation route information, such as setting automatic lane change when the road information is not complicated, but this is not specifically limited here.

[0097] After the lane change mode is determined, the lane change mode can be changed according to the user's operation. The user's operation can be manual operation or voice instruction. There is no specific limitation here, as long as the purpose of the change is achieved.

[0098] When the lane change mode is automatic, the vehicle automatically changes lanes without the need for user confirmation and prompts the user at a preset time before changing lanes. The prompt information includes lane change reminders and position reminders after lane change.

[0099] The preset time can be a fixed time, or the pre-prompt time can be adjusted according to the complex situation of surrounding vehicles. For driving safety, the prompt time should not be too short, but not too long. It can be set to 3 seconds, 4 seconds, etc., and no specific limitation is made here.

[0100] The lane change prompt information can be issued in the form of in-vehicle voice or in the form of an image through the in-vehicle display screen. There is no specific limitation here. The setting can be defined according to the user's habits or it can be a default setting.

[0101] When the lane change mode is manual mode, the vehicle lane change requires user confirmation, and the user inputs the lane change operation to change the vehicle lane. When lane change is required, a lane change operation prompt is issued to the user, and the user confirms the operation to change lanes. The lane change operation prompt is the same as the automatic change prompt. The user confirmation operation can be manual operation of the vehicle's speed controller, operation of the vehicle's display screen, or voice control, which is not specifically limited here.

[0102] When driver intervention is required, timely advice and information are provided through the on-board display screen, voice prompts, etc. to help the driver and passengers better control the vehicle.

[0103] In the technical solution provided in the embodiment of the present application, lane changing operations are performed through a pre-set lane changing mode, and the vehicle issues corresponding prompt information when performing the lane changing operation in the corresponding mode, thereby increasing driving safety and flexibility in controlling the vehicle during driving.

[0104] It should be noted that after specifying the vehicle speed, advanced intelligent algorithms such as machine learning and deep learning can be used to analyze and process vehicle driving data, continuously optimize the vehicle's driving strategy, and improve the vehicle's cruising speed and energy utilization efficiency.

[0105] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0106] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0107] Figure 2 Schematic diagram of a vehicle speed determination device provided in an embodiment of the present application. Figure 2 As shown, the vehicle speed determining device includes:

[0108] An acquisition module 201 is used to acquire road information and environmental information of the route navigated by the target vehicle;

[0109] A first determining module 202 is configured to determine a speed range of the target vehicle based on the road information and the environmental information;

[0110] The second determination module 203 is used to determine the driving speed of the target vehicle in the navigated route according to a preset vehicle speed selection strategy and the driving speed range, and control the target vehicle to travel at the driving speed; wherein the vehicle speed selection strategy includes that the driving time of the navigated route is the shortest, or that the vehicle energy consumption corresponding to the navigated route is the lowest.

[0111] In some embodiments, the road information includes vehicle speed limit information of the navigation route, the interval distance between the target vehicle and the vehicle ahead in the same lane, the road surface type, and the curve radius when the navigated route is a curve; the environmental information includes weather information and current visibility information; the first determination module is specifically used to determine the first maximum driving speed and the minimum driving speed corresponding to the navigated route based on the road speed limit information and the user's preference information for vehicle speed; determine the second maximum driving speed corresponding to the navigated route based on the road surface type, interval distance, weather information, visibility information, and the curve radius when the navigated route is a curve; determine the minimum driving speed as the minimum value of the driving speed range, and determine the minimum value of the first maximum driving speed and the second maximum driving speed as the maximum value of the driving speed range.

[0112] In some embodiments, the first determination module is specifically used to determine the braking speed corresponding to the navigated route based on the road surface type, interval distance and the pre-set correspondence between braking distance and braking speed in different road surface types; determine the maximum speed corresponding to the navigated route based on the visibility information; if the navigated route is a curve, determine the maximum safe driving speed corresponding to the curve based on the curve radius, the road surface type and the weather information; if the navigated route is a curve, determine the minimum value of the braking speed, the maximum speed and the maximum safe driving speed as the second maximum driving speed; if the navigated route is not a curve, determine the minimum value of the braking speed and the maximum speed as the second maximum driving speed.

[0113] In some embodiments, when the vehicle speed selection strategy includes the shortest travel time of the navigated route, the road information includes the traffic speed of each section in the navigated route; the second determination module is specifically used to determine the minimum value between the maximum driving speed and the traffic speed as the driving speed, wherein the maximum driving speed is the maximum value of the driving speed range; determine the travel time of the navigated route according to the driving speed, and when the travel time is the shortest travel time, recommend the navigated route to the user, wherein the shortest travel time is the shortest travel time of all routes between the starting point and the end point of the navigated route.

[0114] In some embodiments, when the vehicle speed selection strategy includes the lowest vehicle energy consumption corresponding to the navigated route, the second determination module is specifically used to determine the speed corresponding to the lowest vehicle energy consumption based on the correspondence between the preset vehicle energy consumption and the driving speed in the navigated route; when the speed corresponding to the lowest vehicle energy consumption is within the driving speed range, the speed corresponding to the lowest vehicle energy consumption is determined as the driving speed in the navigated route.

[0115] In some embodiments, after controlling the target vehicle to travel at the travel speed, the first determining module specifically performs at least one of the following:

[0116] When it is detected that at least one of the road information and the environmental information is updated, updating the driving speed according to the updated road information and environmental information;

[0117] When the vehicle speed selection strategy includes the lowest vehicle energy consumption corresponding to the navigated route, the path between the current position of the target vehicle and the end point of the navigated path is planned based on the cruising range of the target vehicle and the location information of the charging pile to determine that the charging pile is in the planned path.

[0118] In some embodiments, the device also includes a control module for controlling the target vehicle to change lanes according to a pre-set lane change mode, and the lane change mode includes an automatic lane change mode or a manual lane change mode; wherein, the automatic lane change mode refers to issuing a prompt message at a preset time before the target vehicle changes lanes, and the prompt message is used to prompt a lane change after a preset period of time and to prompt the position after the lane change; the manual lane change mode refers to controlling the target vehicle to perform a lane change operation when a lane change operation input by the user is received.

[0119] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0120] Figure 3 Schematic diagram of the electronic device 3 provided in the embodiment of the present application. Figure 3 As shown, the electronic device 3 of this embodiment includes: a processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable by the processor 301. When the processor 301 executes the computer program 303, the steps of the above-mentioned method embodiments are implemented. Alternatively, when the processor 301 executes the computer program 303, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0121] The electronic device 3 may be a desktop computer, a notebook, a PDA, a cloud server or other electronic device. The electronic device 3 may include but is not limited to a processor 301 and a memory 302. Those skilled in the art will understand that Figure 3 This is merely an example of the electronic device 3 and does not limit the electronic device 3 . The electronic device 3 may include more or fewer components than shown in the figure, or different components.

[0122] The processor 301 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0123] The memory 302 can be an internal storage unit of the electronic device 3, such as a hard disk or memory of the electronic device 3. The memory 302 can also be an external storage device of the electronic device 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc. equipped on the electronic device 3. The memory 302 can also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 302 is used to store computer programs and other programs and data required by the electronic device.

[0124] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0125] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice.

Claims

1. A method for determining vehicle speed, characterized in that: include: Obtaining road information and environmental information of the target vehicle's navigation route; The road information includes the road speed limit information of the navigated route, the distance between the target vehicle and the vehicle ahead in the same lane, the road surface type, and the curve radius when the navigated route is a curve; the environmental information includes weather information and current visibility information; Determining a driving speed range of the target vehicle based on the road information and the environmental information, specifically comprising: determining a first maximum driving speed and a minimum driving speed corresponding to the navigated route based on the road speed limit information and user speed preference information; determining a second maximum driving speed corresponding to the navigated route based on the road surface type, the headway, the weather information, the visibility information, and a curve radius when the navigated route is a curve; determining the minimum driving speed as a minimum value of the driving speed range, and determining the minimum value of the first maximum driving speed and the second maximum driving speed as a maximum value of the driving speed range; Determining the driving speed of the target vehicle in the navigated route according to a preset vehicle speed selection strategy and the driving speed range, and controlling the target vehicle to travel at the driving speed; The vehicle speed selection strategy includes that the travel time of the navigated route is the shortest, or the vehicle energy consumption corresponding to the navigated route is the lowest.

2. The method for determining vehicle speed according to claim 1, characterized in that: The determining, based on the road surface type, the interval distance, the weather information, the visibility information, and the curve radius of the navigated route when the navigated route is a curve, includes: determining a braking speed corresponding to the navigated route based on the road surface type, the interval distance, and a preset correspondence between braking distances and braking speeds for different road surface types; determining a maximum speed corresponding to the navigated route based on the visibility information; If the navigated route is a curve, determining a maximum safe driving speed corresponding to the curve based on the curve radius, the road surface type, and the weather information; When the navigated route is a curve, determining the minimum value among the braking speed, the maximum speed, and the maximum safe driving speed as the second maximum driving speed; When the navigated route is not a curve, the minimum value between the braking speed and the maximum speed is determined as the second maximum driving speed.

3. The method for determining vehicle speed according to claim 1, wherein: In the case where the vehicle speed selection strategy includes minimizing the travel time of the navigated route, the road information includes the traffic speed of each road section in the navigated route; The determining the driving speed of the target vehicle in the navigated route according to the preset vehicle speed selection strategy and the driving speed range includes: determining a minimum value between a maximum driving speed and the traffic flow speed as the driving speed, wherein the maximum driving speed is a maximum value of the driving speed range; The travel time of the navigated route is determined based on the driving speed, and the navigated route is recommended to the user if the travel time is the shortest travel time, wherein the shortest travel time is the shortest travel time of all routes between the starting point and the end point of the navigated route.

4. The method for determining vehicle speed according to claim 1, wherein: When the vehicle speed selection strategy includes the vehicle energy consumption corresponding to the navigation route being the lowest, The determining the driving speed of the target vehicle in the navigated route according to the preset vehicle speed selection strategy and the driving speed range includes: Determining a speed corresponding to minimum vehicle energy consumption based on a preset correspondence between vehicle energy consumption and a driving speed in the navigated route; In a case where the speed corresponding to the minimum vehicle energy consumption is within the driving speed range, the speed corresponding to the minimum vehicle energy consumption is determined as the driving speed in the navigated route.

5. The method for determining vehicle speed according to claim 1, wherein: After controlling the target vehicle to travel at the travel speed, the method further includes at least one of the following: When it is detected that at least one of the road information and the environmental information is updated, updating the driving speed according to the updated road information and environmental information; When the vehicle speed selection strategy includes the lowest vehicle energy consumption corresponding to the navigated route, the path between the current position of the target vehicle and the end point of the navigated path is planned based on the cruising range of the target vehicle and the location information of the charging pile to determine that the charging pile is in the planned path.

6. The method for determining vehicle speed according to claim 1, wherein: Also includes: Controlling the target vehicle to change lanes according to a preset lane change mode, wherein the lane change mode includes an automatic lane change mode or a manual lane change mode; The automatic lane change mode refers to sending a prompt message at a preset time before the target vehicle changes lanes. The prompt message is used to prompt the target vehicle to change lanes after a preset time period and to indicate the target vehicle's position after changing lanes. The manual lane change mode refers to controlling the target vehicle to perform a lane change operation when a lane change operation input by a user is received.

7. A device for determining vehicle speed, characterized in that: include: An acquisition module is used to obtain road information and environmental information of the target vehicle's navigation route; The road information includes the road speed limit information of the navigated route, the distance between the target vehicle and the vehicle ahead in the same lane, the road surface type, and the curve radius when the navigated route is a curve; the environmental information includes weather information and current visibility information; a first determining module, configured to determine a driving speed range of the target vehicle based on the road information and the environmental information, and specifically configured to: determine a first maximum driving speed and a minimum driving speed corresponding to the navigated route based on the road speed limit information and user speed preference information; determine a second maximum driving speed corresponding to the navigated route based on the road surface type, the interval distance, the weather information, the visibility information, and a curve radius when the navigated route is a curve; determine the minimum driving speed as a minimum value of the driving speed range, and determine the minimum value of the first maximum driving speed and the second maximum driving speed as a maximum value of the driving speed range; a second determining module, configured to determine a driving speed of the target vehicle in the navigated route according to a preset vehicle speed selection strategy and the driving speed range, and control the target vehicle to travel at the driving speed; The vehicle speed selection strategy includes that the travel time of the navigated route is the shortest, or the vehicle energy consumption corresponding to the navigated route is the lowest.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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