Ramp scene vehicle speed control method and device, equipment and storage medium

Abstract

The application relates to a vehicle speed limiting method, device and equipment for a ramp scene and a storage medium, wherein the method comprises the following steps: in the case that a vehicle enters a ramp scene with a ramp area, determining the positional relationship between the vehicle and the ramp area; based on the positional relationship, segmenting the road section on which the vehicle travels in the ramp scene to obtain a set of travel road sections; determining the limiting speed matched with each travel road section in the set of travel road sections; and based on the limiting speed matched with each travel road section, correspondingly controlling the vehicle to travel in each travel road section in the set of travel road sections. The application can segment and divide the travel road sections in the ramp scene based on the positional relationship between the vehicle and the ramp area, and then match the limiting speed with each travel road section, so that the vehicle travels more safely in the ramp scene with diversified travel road sections, and the traffic efficiency and stability of the vehicle in the ramp scene can be improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, specifically to a vehicle speed control method, device, equipment, and storage medium for ramp scenarios. Background Technology

[0002] Ramps, as an important component of highways and urban expressways, are crucial nodes for controlling road traffic flow. Vehicles entering and exiting ramps can easily disrupt the normal flow of traffic, causing traffic delays. Among related technologies, speed limit decisions in ramp scenarios are considered one of the most challenging tasks in the field of autonomous driving; errors in these decisions can lead to traffic delays, accidents, and even endanger lives and property. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle speed control method, device, equipment, and storage medium for ramp scenarios, so as to provide a speed limit decision that improves the traffic efficiency and stability of vehicles in ramp scenarios.

[0004] To achieve the above objectives, embodiments of this application provide a vehicle speed control method for ramp scenarios, the method comprising:

[0005] In a scenario where a vehicle enters a ramp area, determine the positional relationship between the vehicle and the ramp area;

[0006] Based on the aforementioned positional relationships, the road segments in which the vehicles travel in the ramp scenario are segmented to obtain a set of travel segments;

[0007] Determine the speed limit to match each driving segment in the set of driving segments;

[0008] Based on the speed limit matched to each driving segment, the vehicle is controlled to drive in each driving segment of the set of driving segments.

[0009] In this way, when a vehicle enters a ramp area, the system divides the driving route within the ramp scenario into segments based on the positional relationship between the vehicle and the ramp area. Then, it assigns a speed limit to each segment, making driving safer in ramp scenarios with diverse driving routes, rather than controlling vehicles to travel in ramp scenarios with a fixed speed limit, as is the case with some related technologies. By considering the positional relationship between the vehicle and the ramp area and adaptively determining the corresponding speed limit, the system allows vehicles to adaptively adjust the matched speed limit in ramp scenarios with diverse driving routes, thereby improving the efficiency and stability of vehicle traffic in ramp scenarios.

[0010] In some embodiments of this application, the set of driving segments includes: a first driving segment, a second driving segment, a third driving segment, and a fourth driving segment. The step of segmenting the driving segments of the vehicle in the ramp scenario based on the positional relationship to obtain the set of driving segments includes: determining that the vehicle is driving on the first driving segment in the ramp scenario when the positional relationship indicates that the distance between the vehicle and the entrance of the ramp area is less than a first distance and greater than a second distance; determining that the vehicle is driving on the second driving segment in the ramp scenario when the positional relationship indicates that the distance between the vehicle and the entrance of the ramp area is less than or equal to the second distance and greater than a third distance; determining that the vehicle is driving on the third driving segment in the ramp scenario when the positional relationship indicates that the distance between the vehicle and the entrance of the ramp area is less than or equal to the third distance, and the distance between the vehicle and the exit of the ramp area is greater than or equal to a fourth distance; and determining that the vehicle is driving on the fourth driving segment in the ramp scenario when the positional relationship indicates that the distance between the vehicle and the exit of the ramp area is less than or equal to the fourth distance.

[0011] This allows for the segmentation of diverse driving sections in ramp scenarios, providing a foundation for subsequent adaptive matching of corresponding speed limits to improve vehicle driving efficiency in ramp scenarios.

[0012] In some embodiments of this application, the method further includes: when a ramp speed limit sign is detected in the ramp area, determining the speed limit matched with the third travel segment as the ramp speed limit speed in the ramp speed limit sign; when the type of road connected to the exit of the fourth travel segment is detected, adjusting the speed limit matched with the fourth travel segment based on the type to obtain the adjusted speed limit matched with the fourth travel segment.

[0013] This allows for further speed limits based on traffic regulations, building upon existing safe speed limit decisions, to improve vehicle safety within ramp areas. It also enables adaptive adjustment of speed limits to match the fourth driving segment based on information about the roads connected to the exit of the ramp area, i.e., the type of road connected to the exit of the fourth driving segment, thereby improving vehicle safety and traffic efficiency in subsequent ramp exit scenarios.

[0014] In some embodiments of this application, before controlling the vehicle to travel in each driving segment of the driving segment set based on the speed limit matched for each driving segment, the method further includes: determining the actual driving speed of the vehicle in each driving segment; the step of controlling the vehicle to travel in each driving segment of the driving segment set based on the speed limit matched for each driving segment includes: controlling the vehicle to travel in each driving segment of the driving segment set based on the actual driving speed of the vehicle in each driving segment and the speed limit matched for each driving segment.

[0015] In this way, based on the safety speed limit decision, that is, the speed limit matched with the position relationship, and combined with the actual driving speed of the vehicle, the driving speed of the vehicle in each driving segment is adaptively adjusted. This not only improves the driving efficiency and driving stability of the vehicle in the driving segment in the ramp scenario, but also makes the speed control method in this scheme not limited to any ramp scenario, thereby improving the robustness, stability and efficiency of the speed control method in this scheme.

[0016] In some embodiments of this application, controlling the vehicle to travel in each segment of the driving segment set based on the vehicle's actual driving speed in each driving segment and the speed limit matched for each driving segment includes: adjusting the vehicle from the actual driving speed to the preset speed when the vehicle's actual driving speed in the comparison segment is greater than the speed limit matched for the comparison segment, and controlling the vehicle to travel in the comparison segment at the preset speed; controlling the vehicle to travel in the comparison segment at the actual driving speed when the vehicle's actual driving speed in the comparison segment is less than or equal to the speed limit matched for the comparison segment; wherein, the comparison segment is any driving segment in the driving segment set; and the preset speed is less than or equal to the speed limit.

[0017] In this way, by making more specific numerical comparisons, the driving efficiency and driving stability of vehicles in the ramp scenario are improved.

[0018] In some embodiments of this application, adjusting the vehicle from the actual driving speed to the preset speed includes: determining a speed difference between the actual driving speed and the preset speed; determining an adjustment value matching the speed difference; and using the adjustment value as an adjustment step size to decelerate the vehicle from the actual driving speed to the preset speed.

[0019] In this way, the vehicle can be adjusted from the actual driving speed to the preset speed based on the adjustment step size corresponding to the difference between the actual driving speed and the preset speed, so as to improve the comfort, stability and robustness of the vehicle throughout the deceleration process.

[0020] In some embodiments of this application, the method further includes: when the distance between the vehicle and the entrance of the ramp area is a preset distance, adjusting the vehicle to enter the navigation segment connected to the entrance of the ramp area; and determining the scenario of the vehicle entering the ramp.

[0021] This allows for lane changes under defined conditions, and once the conditions are met after the lane change, the vehicle will enter the ramp scenario, enabling the vehicle to enter the ramp scenario more stably and efficiently.

[0022] This application provides a vehicle speed control device for a ramp scenario, the device comprising:

[0023] The first determining module is used to determine the positional relationship between the vehicle and the ramp area when the vehicle enters a ramp area.

[0024] The segmentation module is used to segment the road segment traveled by the vehicle in the ramp scenario based on the positional relationship, so as to obtain a set of travel segments;

[0025] The second determining module is used to determine the speed limit that matches each driving segment in the set of driving segments;

[0026] The control module is used to control the vehicle to travel in each of the driving segments in the set of driving segments based on the speed limit matched for each driving segment.

[0027] Accordingly, this application provides a computer device, characterized in that the computer device includes a memory and a processor, the memory stores computer-executable instructions, and the processor, when executing the computer-executable instructions in the memory, can implement the above-described vehicle speed control method for ramp scenarios.

[0028] This application provides a computer storage medium, characterized in that the computer storage medium stores computer-executable instructions, which, when executed, can realize the vehicle speed control method for ramp scenarios described above.

[0029] This application provides a vehicle speed control method, device, equipment, and storage medium for ramp scenarios. First, when a vehicle enters a ramp scenario with ramp areas, the positional relationship between the vehicle and the ramp areas is determined. Second, based on the positional relationship, the road segments traveled by the vehicle in the ramp scenario are segmented to obtain a set of travel segments. Then, a speed limit matching each travel segment in the set of travel segments is determined. Finally, based on the speed limit matching each travel segment, the vehicle is controlled to travel in each travel segment of the set of travel segments. In this way, when a vehicle enters a ramp scenario with ramp areas, the travel segments in the ramp scenario are segmented based on the positional relationship between the vehicle and the ramp areas, and a speed limit is matched to each travel segment. This makes driving in ramp scenarios with diverse travel segments safer, rather than controlling the vehicle to travel in ramp scenarios for extended periods with a fixed speed limit, as in related technologies. Thus, by taking into account the positional relationship between the vehicle and the ramp area, the corresponding speed limit is adaptively determined, enabling the vehicle to adaptively adjust the matching speed limit in ramp scenarios with diverse driving sections, thereby improving the vehicle's traffic efficiency and stability in ramp scenarios.

[0030] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the technical solutions provided in the embodiments of this application. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0032] Figure 1 This illustration shows a flowchart of a vehicle speed control method for a ramp scenario provided in an embodiment of this application;

[0033] Figure 2 This illustration shows a flowchart of another vehicle speed control method for a ramp scenario provided in an embodiment of this application;

[0034] Figure 3 This illustration shows a flowchart of another vehicle speed control method for a ramp scenario provided in an embodiment of this application;

[0035] Figure 4 A schematic diagram showing the location and end point of the ramp;

[0036] Figure 5A schematic diagram showing the different driving sections of the vehicle on the ramp;

[0037] Figure 6 This diagram illustrates the process of controlling vehicle movement using the vehicle speed control method for ramp scenarios provided in the embodiments of this application.

[0038] Figure 7 This illustration shows a schematic diagram of the composition structure of a vehicle speed control device for a ramp scenario provided in an embodiment of this application;

[0039] Figure 8 This diagram illustrates the structural composition of a computer device according to an embodiment of this application. Detailed Implementation

[0040] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0041] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0042] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of this application belong. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of embodiments of this application.

[0044] Among related technologies, speed limit decision-making technology for autonomous driving is a crucial prerequisite for achieving vehicle safety, intelligence, and comfort, and is an important component of autonomous driving technology. How to design a scientific and intelligent speed limit decision-making method for autonomous driving, accurately determine the characteristics of speed limit intent, improve the safety of autonomous vehicles actively limiting speed, and increase traffic efficiency are urgent problems to be solved in autonomous driving. Currently, there is considerable research on speed limit decision-making for autonomous driving, which, based on actual road scenarios, is generally divided into two types: traffic regulation speed limit decision-making and safety speed limit decision-making. Traffic regulation speed limits are mainly based on visual recognition and must be constrained by road traffic regulations, aiming to obtain a more compliant and safer driving experience; safety speed limits are set through expert rules to limit speeds, aiming to obtain a driving style more in line with driving habits and improve traffic efficiency.

[0045] Ramps, as a crucial component of highways and urban expressways, are vital nodes for controlling road traffic flow. Vehicles entering and exiting ramps disrupt the normal flow of traffic, easily causing delays. Speed ​​limit decisions for ramp scenarios are among the most challenging tasks in autonomous driving speed limit decision-making technology. Incorrect speed limits on ramps can cause minor traffic delays, or even lead to traffic accidents and endanger lives and property.

[0046] Based on this, some embodiments of this application provide a vehicle speed control method, apparatus, device, and storage medium for ramp scenarios. When a vehicle enters a ramp scenario with ramp areas, it divides the driving route within the ramp scenario into segments based on the positional relationship between the vehicle and the ramp area, and then matches a speed limit to each driving segment. This makes driving safer in ramp scenarios with diverse driving segments, rather than controlling the vehicle to drive in ramp scenarios with a fixed speed limit as in related technologies. Thus, by considering the positional relationship between the vehicle and the ramp area and adaptively determining the corresponding speed limit, the vehicle can adaptively adjust the matched speed limit in ramp scenarios with diverse driving segments, thereby improving the vehicle's traffic efficiency and stability in ramp scenarios.

[0047] Based on this, this embodiment provides a vehicle speed control method for ramp scenarios, such as... Figure 1 The diagram shown is a flowchart illustrating a vehicle speed control method for a ramp scenario provided in an embodiment of this application. (Refer to...) Figure 1 The steps shown are explained below:

[0048] Step S101: In the case of a vehicle entering a ramp area, determine the positional relationship between the vehicle and the ramp area.

[0049] In some embodiments of this application, "vehicle" can refer to both motor vehicles and non-motor vehicles; where the vehicle is a motor vehicle, it can be any type of vehicle such as a sedan, truck, bus, or trailer.

[0050] Here, the vehicle can be an autonomous vehicle, that is, an intelligent vehicle that achieves driverless operation through a relevant operating system.

[0051] In some embodiments of this application, the scenario of a vehicle entering a ramp area during driving can be identified based on the relevant operating system associated with the vehicle. The relevant operating system can be the main control system deployed on the vehicle, or it can be an operating system that can interact with relevant communication devices on the vehicle.

[0052] The ramp scene includes a ramp area, which at least includes: the ramp area, partial road information before entering the ramp area, and partial road information after exiting the ramp area. The length of the ramp area and the road segments within the ramp scene used for vehicle travel can be determined according to actual needs; for example, it could be 500 meters, 1000 meters, etc. This application embodiment does not impose any limitations on this.

[0053] Here, the ramp area is called a ramp, and a ramp is an access road. Because a ramp is mainly an auxiliary road section that helps vehicles enter or exit the main road, ramps are usually set up at the connection between interchanges and elevated roads. At the same time, it can also refer to the connecting road between the expressway and the adjacent auxiliary road. In other words, the road section connecting the access road and the main road can be called a ramp.

[0054] In some embodiments of this application, the positional relationship between a vehicle and a ramp area can be expressed as the distance between the vehicle and the entrance of the ramp area, the distance between the vehicle and the exit of the ramp area, the distance between the vehicle traveling within the ramp area and the exit of the ramp area, etc.; wherein, the magnitude of the distance can be further subdivided to determine the corresponding positional relationship.

[0055] Step S102: Based on the positional relationship, the road segment in the ramp scenario is segmented to obtain a set of driving road segments.

[0056] In some embodiments of this application, the road segments in the ramp scenario can be divided into hierarchical segments based on this positional relationship to obtain a set of driving road segments.

[0057] The number of driving segments included in the driving segment cluster can be two or more, and the driving distances corresponding to different driving segments can be the same or different.

[0058] It should be noted that, based on the positional relationship, the road segments in the ramp scenario can be divided into equal-distance segments or non-equal-distance segments to obtain the set of driving road segments.

[0059] Step S103: Determine the speed limit that matches each driving segment in the set of driving segments.

[0060] In some embodiments of this application, the speed is limited, that is, it represents the maximum speed that needs to be traveled.

[0061] In some embodiments of this application, a speed limit can be matched to each driving segment in the driving segment set; here, the speed limits matched to different driving segments can be different or partially the same.

[0062] It should be noted that the corresponding speed limit can be matched based on the location of the road segment used for vehicle travel in the ramp scenario.

[0063] For example, when the set of driving segments includes a first driving segment, a second driving segment, a third driving segment, and a fourth driving segment, a corresponding speed limit can be determined for each driving segment. Here, since different driving segments are located on the sections of the ramp used for vehicle travel, corresponding speed limits can be matched in stages, i.e., speeds are reduced in stages to improve vehicle driving efficiency and stability in the ramp scenario. For example: the speed limit matched with the first driving segment is determined as the first speed limit; the speed limit matched with the second driving segment is determined as the second speed limit; the speed limit matched with the third driving segment is determined as the third speed limit; and finally, the speed limit matched with the fourth driving segment is determined as the fourth speed limit; wherein the first speed limit is greater than the second speed limit, the second speed limit is greater than the third speed limit, the third speed limit is greater than the fourth speed limit, and the fourth speed limit is greater than 0.

[0064] Step S104: Based on the speed limit matched for each driving segment, control the vehicle to drive in each driving segment of the driving segment set accordingly.

[0065] In some embodiments of this application, based on the speed limit matched for each driving segment, the vehicle is controlled to drive in each driving segment of the driving segment set, so that the vehicle can drive safely and stably in the ramp scenario.

[0066] Based on the above description, in the first driving segment, the vehicle is controlled to travel at a speed limit matched to the first driving segment; in the second driving segment, the vehicle is controlled to travel at a speed limit matched to the second driving segment; in the third driving segment, the vehicle is controlled to travel at a speed limit matched to the third driving segment; and in the fourth driving segment, the vehicle is controlled to travel at a speed limit matched to the fourth driving segment. This achieves phased control of the vehicle in the ramp scenario, with adaptively matched speeds.

[0067] In some embodiments of this application, the vehicle can be controlled to travel on the road segment used for vehicle travel in the ramp scenario based on the speed limit; that is, the vehicle can be controlled to travel in the ramp scenario at any speed below the speed limit.

[0068] Here, the actual driving speed of the vehicle can be further referenced, and then the vehicle can be controlled to travel on the road segment in the ramp scenario based on both the actual driving speed and the speed limit.

[0069] For example, if the actual driving speed is greater than the speed limit, the vehicle can be controlled to decelerate to the speed limit and travel in the section of road where vehicles travel in the ramp scenario; or, if the actual driving speed is less than or equal to the speed limit, the vehicle can be controlled to continue traveling in the section of road where vehicles travel in the ramp scenario at the actual driving speed.

[0070] Here, by dividing the road segment in the ramp scenario into multiple driving segments based on the positional relationship and determining the speed limit matched for each driving segment, the vehicle can be controlled to drive in each of the multiple driving segments according to the speed limit matched for each driving segment.

[0071] This application provides a vehicle speed control method, device, equipment, and storage medium for ramp scenarios. First, when a vehicle enters a ramp scenario with ramp areas, the positional relationship between the vehicle and the ramp areas is determined. Second, based on the positional relationship, the road segments traveled by the vehicle in the ramp scenario are segmented to obtain a set of travel segments. Then, a speed limit matching each travel segment in the set of travel segments is determined. Finally, based on the speed limit matching each travel segment, the vehicle is controlled to travel in each travel segment of the set of travel segments. In this way, when a vehicle enters a ramp scenario with ramp areas, the travel segments in the ramp scenario are segmented based on the positional relationship between the vehicle and the ramp areas, and a speed limit is matched to each travel segment. This makes driving in ramp scenarios with diverse travel segments safer, rather than controlling the vehicle to travel in ramp scenarios for extended periods with a fixed speed limit, as in related technologies. Thus, by taking into account the positional relationship between the vehicle and the ramp area, the corresponding speed limit is adaptively determined, enabling the vehicle to adaptively adjust the matching speed limit in ramp scenarios with diverse driving sections, thereby improving the vehicle's traffic efficiency and stability in ramp scenarios.

[0072] In some embodiments of this application, when the set of driving segments includes a first driving segment, a second driving segment, a third driving segment, and a fourth driving segment, the different distances between the vehicle and the entrance of the ramp area, and the different distances between the vehicle traveling within the ramp area and the exit of the ramp area, can be represented by positional relationships to segment the road segments used for vehicle travel in the ramp scenario, thus obtaining a set of driving segments. This allows for the segmentation of diverse driving segments in the ramp scenario, providing a basis for subsequent adaptive matching of corresponding speed limits to improve vehicle driving efficiency in the ramp scenario. Step S102 provided in the above embodiments can be implemented through steps S201 to S204, such as... Figure 2 The diagram shown is a flowchart illustrating another vehicle speed control method for a ramp scenario provided in this application embodiment. Figure 1 and Figure 2 The steps shown are explained below:

[0073] Step S201: If the distance between the vehicle and the entrance of the ramp area, as represented by the positional relationship, is less than a first distance and greater than a second distance, determine that the vehicle is traveling on the first travel segment in the ramp scenario.

[0074] Step S202: If the distance between the vehicle and the entrance of the ramp area, as characterized by the positional relationship, is less than or equal to the second distance and greater than the third distance, it is determined that the vehicle is traveling on the second travel segment in the ramp scenario.

[0075] Step S203: If the distance between the vehicle and the entrance of the ramp area, as indicated by the positional relationship, is less than or equal to the third distance, and the distance between the vehicle traveling within the ramp area and the exit of the ramp area is greater than or equal to the fourth distance, then determine that the vehicle is traveling on the third travel segment in the ramp scenario.

[0076] Step S204: If the distance between the vehicle and the exit of the ramp area, as characterized by the positional relationship, is less than or equal to the fourth distance, determine that the vehicle is traveling on the fourth travel segment in the ramp scenario.

[0077] In some embodiments of this application, the first distance is greater than the second distance, the second distance is greater than the third distance, for example, the first distance is 2000 meters, the second distance is 800 meters, and the third distance is 200 meters; wherein, the fourth distance can be any data, for example, 100 meters.

[0078] The first driving segment is the driving segment where the vehicle is 2000 meters to 800 meters from the entrance of the ramp area; the second driving segment is the driving segment where the vehicle is 800 meters to 200 meters from the entrance of the ramp area; the third driving segment is the driving segment where the vehicle is less than 200 meters from the entrance of the ramp area and more than 100 meters from the exit of the ramp area; and the fourth driving segment is the driving segment where the vehicle is less than 100 meters from the exit of the ramp area.

[0079] Here, based on this positional relationship, namely the different distances between the vehicle and the entrance of the ramp area, and the different distances between the vehicle traveling within the ramp area and the exit of the ramp area, the road segment used for vehicle travel in the ramp scenario can be divided into four travel segments.

[0080] Correspondingly, when the set of driving segments includes: the first driving segment, the second driving segment, the third driving segment, and the fourth driving segment, a corresponding speed limit can be determined for each driving segment. Here, since different driving segments are located in the sections of the ramp scene used for vehicle travel, corresponding speed limits can be matched in stages, that is, speeds can be reduced in stages to improve the driving efficiency and stability of vehicles in the ramp scene. Here, when a vehicle is traveling on the third driving segment in the ramp scene and a ramp speed limit sign is detected in the ramp area, the vehicle needs to be controlled to travel at the ramp speed limit sign. Furthermore, based on the road information connected to the exit of the ramp area, that is, the road information connected to the exit of the fourth driving segment, the third speed limit matched with the fourth driving segment can be adaptively adjusted to improve the driving safety and traffic efficiency of the vehicle in the subsequent exit ramp scene. This allows for further speed limits based on traffic regulations, building upon existing safe speed limit decisions, to improve vehicle safety within ramp areas and enhance safety and traffic efficiency when exiting ramps. In other words, step S103 provided in the above embodiment can also be implemented through the following process:

[0081] The first step is to determine the speed limit that matches the third driving segment when a speed limit sign is detected in the ramp area.

[0082] In some embodiments of this application, the ramp speed limit sign may be a ramp speed limit sign or ramp speed limit information set in relevant navigation map information.

[0083] The second step is to identify the type of road connected to the exit of the fourth driving segment, and then adjust the speed limit matched by the fourth driving segment based on the type to obtain the adjusted speed limit matched by the fourth driving segment.

[0084] In some embodiments of this application, if the speed limit matched for the fourth driving segment is 60 km / h, and the type of road connected to the exit of the fourth driving segment is characterized as a highway or expressway, the speed limit matched for the fourth driving segment can be adjusted to 80 km / h; if it is characterized as a non-highway or expressway, the speed limit matched for the fourth driving segment can continue to be set to 60 km / h.

[0085] In some embodiments of this application, the actual driving speed of the vehicle in each driving segment can be obtained. Then, the actual driving speed of the vehicle in each driving segment and the speed limit matched to each driving segment can be comprehensively considered to control the vehicle's driving in each driving segment of the driving segment set accordingly. Thus, based on the safety speed limit decision (i.e., the speed limit matched to the positional relationship), and combined with the actual driving speed of the vehicle, the driving speed of the vehicle in each driving segment of the driving segment set is adaptively adjusted. This not only improves the driving efficiency and stability of the vehicle in the driving segment of the ramp scenario, but also makes the vehicle speed control method in this solution not limited to any ramp scenario, thereby improving the robustness, stability, and efficiency of the vehicle speed control method in this solution. That is, before executing step S104 provided in the above embodiments, the vehicle speed control method for ramp scenarios provided in this application can also execute the following step S301, such as... Figure 3 The diagram shown is a flowchart illustrating another vehicle speed control method for a ramp scenario provided in this application embodiment. Figures 1 to 3 The steps shown are explained below:

[0086] Step S301: Determine the actual driving speed of the vehicle in each driving segment.

[0087] In some embodiments of this application, the actual driving speed of the vehicle in each driving segment is obtained in real time to determine the actual driving speed of the vehicle in each driving segment; wherein, the actual driving speed of the vehicle in different driving segments may be the same or different.

[0088] Correspondingly, after determining the actual driving speed of the vehicle in each driving segment, furthermore, based on both the actual driving speed and the speed limit, the vehicle can be controlled to drive in each driving segment of the driving segment set. That is, step S104 provided in the above embodiment is implemented by the following step S302:

[0089] Step S302: Based on the actual driving speed of the vehicle in each driving segment and the speed limit matched for each driving segment, control the vehicle to drive in each driving segment of the driving segment set accordingly.

[0090] In some embodiments of this application, the actual driving speed of the vehicle on the road segment to be processed, as well as the speed limit matched to the road segment to be processed, can be referenced simultaneously to control the vehicle's movement on the road segment to be processed. Here, the road segment to be processed is any road segment in the set of road segments, meaning that this scheme can be used for each road segment in the set of road segments.

[0091] In one feasible implementation, the actual driving speed of the vehicle on the comparison road segment can be compared with the speed limit matched by the comparison road segment. Based on this ratio, the vehicle can be controlled to drive at a relevant speed on the comparison road segment, where the comparison road segment is any road segment in the set of driving segments. This more specific numerical comparison improves the driving efficiency and stability of the vehicle on the comparison road segment in the ramp scenario. That is, step S302 provided in the above embodiment can be implemented through the following steps S3021 and S3022 (not shown in the figure):

[0092] Step S3021: When the actual driving speed of the vehicle on the road segment to be compared is greater than the speed limit matched by the road segment to be compared, the vehicle is adjusted from the actual driving speed to the preset speed, and the vehicle is controlled to drive on the road segment to be compared at the preset speed.

[0093] Wherein, the road segment to be compared is any road segment in the set of driving road segments; the preset speed is less than or equal to the speed limit.

[0094] In some embodiments of this application, if the actual driving speed of the vehicle on the road segment to be compared (e.g., 80 km / h) is greater than the speed limit matched by the road segment to be compared (e.g., 60 km / h), the vehicle is adjusted from the actual driving speed to the preset speed, and the vehicle is controlled to drive on the road segment to be compared at the preset speed; wherein, the road segment to be compared can be any road segment in the set of driving road segments.

[0095] Here, the vehicle can be adjusted from the actual driving speed to the preset speed based on the adjustment step size corresponding to the difference between the actual driving speed and the preset speed, so as to improve the comfort, stability and robustness of the vehicle during the entire deceleration process. That is, the step S3021 in the above embodiment regarding "adjusting the vehicle from the actual driving speed to the preset speed" can be achieved through the following process:

[0096] First, determine the speed difference between the actual driving speed and the preset speed.

[0097] Next, determine an adjustment value that matches the speed difference.

[0098] Then, using the adjustment value as the adjustment step size, the vehicle is decelerated from the actual driving speed to the preset speed.

[0099] In some embodiments of this application, when the difference between the actual driving speed (80km / h) and the preset speed (60km / h) is 20km / h, an adjustment value matching the 20km / h can be determined, such as 5km / h. Then, the 80km / h can be adjusted by decelerating in increments of 5km / h until it reaches 60km / h.

[0100] Step S3022: When the actual driving speed of the vehicle in the comparison section is less than or equal to the speed limit matched by the comparison section, control the vehicle to drive in the comparison section at the actual driving speed.

[0101] In some embodiments of this application, if the actual driving speed of the vehicle on the road segment to be compared is less than or equal to the speed limit matched by the road segment to be compared, the vehicle can be directly controlled to drive on the road segment to be compared at its actual driving speed.

[0102] Based on the above description, when the distance between the vehicle and the entrance of the ramp area is a preset distance, after adjusting the navigation road segment connecting the vehicle to the entrance of the ramp area, the vehicle can be defaulted to entering the ramp scenario. This allows for lane changing under certain conditions, and entry into the ramp scenario after the lane change is completed, enabling the vehicle to enter the ramp scenario more stably and efficiently. Therefore, the vehicle speed control method for ramp scenarios provided in this application embodiment can also perform the following process:

[0103] First, when the distance between the vehicle and the entrance of the ramp area is a preset distance, the vehicle is adjusted to enter the navigation segment connecting to the entrance of the ramp area.

[0104] Then, determine the scenario where the vehicle enters the ramp.

[0105] In some embodiments of this application, the preset distance can be determined according to actual needs, such as 2000 meters.

[0106] Here, when the vehicle is 2000 meters away from the entrance of the ramp area, the navigation route for the vehicle to enter the entrance connecting the ramp area can be adjusted, and thus the vehicle can be considered to have entered the ramp scenario.

[0107] The above-described vehicle speed control method for ramp scenarios will be described below with reference to a specific embodiment. However, it is worth noting that this specific embodiment is only for better illustrating the embodiments of this application and does not constitute an improper limitation on the embodiments of this application.

[0108] In recent years, with the rise of a large number of new energy vehicles, the practical application of automated driving assistance has shown good results. Because it can alleviate traffic congestion and improve traffic safety, autonomous driving technology has received increasing attention and importance from many fields. Among them, autonomous driving speed limit decision-making technology is an important prerequisite for achieving vehicle safety, intelligence, and comfort, and is a crucial component of autonomous driving technology. How to design a scientific and intelligent autonomous driving speed limit decision-making method, accurately judge the characteristics of speed limit intent, improve the safety of autonomous vehicles actively limiting speed, and increase traffic efficiency are urgent problems to be solved in autonomous driving. Currently, there is a lot of research on autonomous driving speed limit decision-making. Based on actual road scenarios, it is generally divided into two types: traffic regulation speed limit decision-making and safety speed limit decision-making. Traffic regulation speed limits are mainly based on visual recognition and must be constrained by road traffic regulations, aiming to obtain a more compliant and safer driving experience; safety speed limits are set through expert rules to limit speeds, aiming to obtain a driving style more in line with driving habits and improve traffic efficiency, such as in ramp scenarios. Ramps, as an important part of highways and urban expressways, are important nodes for controlling road traffic flow. When vehicles enter or exit ramps, they will affect the normal traffic flow and cause traffic delays. Speed ​​limit decisions in ramp scenarios are among the most challenging tasks in autonomous driving speed limit decision-making technology. Incorrect speed limit measures in ramp scenarios can cause traffic delays, traffic accidents, and even endanger lives and property.

[0109] In related technologies, the speed limit decision-making method for ramp scenarios is based on a safe speed limit. A fixed speed limit is set 2 kilometers before approaching the ramp, allowing drivers to slow down to that limit in advance to ensure successful entry. Then, a safe speed limit is set within the ramp to ensure safe driving. This strategy is simple and effective for general ramp scenarios, but it is too mechanical and provides a poor user experience. Ramp areas may actually have speed limit signs and other information relevant to the specific scenario; a fixed safe speed limit does not fit the specific situation, resulting in a poor experience, traffic violations, and even endangering lives.

[0110] Based on this, this application provides a vehicle speed control method for ramp scenarios. It can identify ramp scenarios based on road types and navigation information obtained from upstream perception systems and Advanced Driving Assistance Systems (ADAS) maps. The method makes a speed limit decision for the ramp area based on a comprehensive judgment of the vehicle's position relative to the ramp, speed limit sign information, and the vehicle's actual speed. Within 200 meters before the ramp entrance to 100 meters before the ramp exit, a traffic regulation speed limit decision is made based on a safe speed limit decision. If the vehicle encounters a ramp speed limit sign within this range, the ramp speed limit is maintained accordingly. This application, by flexibly selecting the timing and value of the speed limit, is applicable to all ramp scenarios, improving system robustness, stability, and efficiency.

[0111] The main steps include: 1. Identifying whether the scene ahead is an entry ramp; 2. Confirming the ramp's safe speed limit and distance; 3. Confirming the ramp's traffic regulation speed limit; 4. Longitudinal planning and deceleration; 5. Outputting the final planned trajectory to the control module. Step 1: Identifying whether the scene ahead is an entry ramp, such as... Figure 4 The diagram shows the location and end point of the ramp; the starting point (corresponding to the entrance of the ramp area in this embodiment) D1 and the ending point (corresponding to the exit of the ramp area in this embodiment) D2 are road structure change points. When an exit ramp is required ahead according to the navigation route, the vehicle should be informed of the exit ramp ahead at least 2km in advance, and the vehicle should intelligently switch lanes to the side lane of the exit ramp in the direction of the navigation route.

[0112] Step 2: Identify the safe speed limit and distance of the ramp; because the distance and position of the vehicle relative to the ramp will affect the ramp speed limit, a tiered speed limit entry strategy will be adopted based on the vehicle's position relative to the ramp. For example... Figure 5 The diagram shows a vehicle traveling on different sections of a ramp. Figure 5 501 indicates that the first driving section is the range of 2000 meters to 800 meters from the starting point of the ramp, where the speed limit can be set to 100 km / h; Figure 5 502 indicates that the second driving section is the range of 800 meters to 200 meters from the starting point of the ramp, where the speed limit can be set to 80 km / h; Figure 5 503 indicates that the third driving segment is the section from 200 meters from the start of the ramp to 100 meters from the end of the ramp, where the speed limit can be set to 60 km / h; Figure 5 504 indicates that the fourth driving segment is the driving segment when the vehicle is 100 meters away from the end of the ramp. Here, if it is determined that the road ahead is a highway or expressway, the speed limit can be set to 80 km / h; otherwise, it can be set to 60 km / h.

[0113] Step 3: Confirm the speed limit value of the ramp traffic regulations; here, in the third driving section of the ramp safety speed limit, if the ramp speed limit sign is visually recognized, then from the moment of recognition, the speed limit value of the third driving section is adjusted to the speed limit value of the ramp speed limit sign.

[0114] Step 4: Longitudinal Planning for Deceleration; After selecting a speed limit, if the vehicle speed is greater than the current speed limit, longitudinal planning will be used to decelerate until the speed limit is reached. Longitudinal planning calculates the deceleration rate based on the difference between the vehicle speed and the speed limit, ensuring comfort, stability, and robustness throughout the deceleration process. If the vehicle speed is less than or equal to the current speed limit, no action is taken, and the original plan continues.

[0115] After executing steps 1 to 4, this can be used as a control strategy to control the vehicle to drive in a ramp scenario with ramp areas, i.e., execute step 5.

[0116] The vehicle speed control method for ramp scenarios provided in this application embodiment can utilize crowdsourced maps, visual perception, and other sensory information to make speed limit decision-making schemes for ramp scenarios that are mature, highly safe, scalable, and cost-controllable; simultaneously, Figure 6 The diagram illustrates the process of controlling vehicle movement using the speed control method for ramp scenarios provided in this application. First, step 601 is executed: Start. Then, it is determined whether the vehicle is in the ramp area. If the vehicle is not in the ramp area, step 617 is executed directly. If the vehicle is in the ramp area, steps 603 to 605 are executed sequentially: the vehicle is between 2000 meters and 200 meters before the ramp entrance; the vehicle is between 200 meters before the ramp entrance and 100 meters before the ramp exit; and the vehicle is between 100 meters and 0 meters before the ramp exit. Steps 603 to 605 are executed accordingly. Then, steps 606 are executed to determine whether the vehicle is within 800 meters to 200 meters of the ramp entrance; steps 609 are executed to determine whether there is a speed limit sign for the ramp; and steps 612 are executed to determine whether the road type after the ramp exit is a highway or expressway. Finally, different speed limits are set based on different conditions. Figure 6 The numbers 607, 608, 610, 611, 613, and 614 are shown in the diagram. Finally, it can be determined whether the current vehicle's actual speed is greater than the speed limit, i.e., 615. If so, the longitudinal speed limit value is applied, i.e., the speed limit is set at 616. Otherwise, the process ends directly, i.e., 617.

[0117] Based on this, the vehicle speed control method for ramp scenarios provided in this application determines a matching speed limit based on the positional relationship between the vehicle and the ramp area and the vehicle's actual speed when the vehicle enters a ramp scenario with ramp areas. Then, the vehicle's movement in the ramp scenario is controlled based on this speed limit. In this way, by taking into account the positional relationship between the vehicle and the ramp area and the vehicle's actual speed, the corresponding speed limit is adaptively determined. This allows the vehicle to adaptively adjust the matching speed limit in ramp scenarios with diverse road segments, thereby improving the vehicle's traffic efficiency and stability in ramp scenarios.

[0118] This application provides a vehicle speed control device for ramp scenarios. Figure 7 This application provides a schematic diagram of the structural composition of a vehicle speed control device for a ramp scenario, as shown in the embodiment of the present application. Figure 7 As shown, the vehicle speed control device 700 for ramp scenarios includes:

[0119] The first determining module 701 is used to determine the positional relationship between the vehicle and the ramp area when the vehicle enters a ramp area.

[0120] The segmentation module 702 is used to segment the road segment traveled by the vehicle in the ramp scenario based on the positional relationship, so as to obtain a set of travel segments;

[0121] The second determining module 703 is used to determine the speed limit matched with each driving segment in the set of driving segments;

[0122] The control module 704 is used to control the vehicle to travel in each of the driving segments in the set of driving segments based on the speed limit matched for each driving segment.

[0123] In some embodiments of this application, the set of driving segments includes: a first driving segment, a second driving segment, a third driving segment, and a fourth driving segment. The segmentation module 702 is further configured to: determine that the vehicle is traveling on the first driving segment in the ramp scenario when the distance between the vehicle and the entrance of the ramp area, as represented by the positional relationship, is less than a first distance and greater than a second distance; determine that the vehicle is traveling on the second driving segment in the ramp scenario when the distance between the vehicle and the entrance of the ramp area, as represented by the positional relationship, is less than or equal to the second distance and greater than a third distance; determine that the vehicle is traveling on the third driving segment in the ramp scenario when the distance between the vehicle and the entrance of the ramp area, as represented by the positional relationship, is less than or equal to the third distance, and the distance between the vehicle and the exit of the ramp area, as represented by the positional relationship, is greater than or equal to a fourth distance; and determine that the vehicle is traveling on the fourth driving segment in the ramp scenario when the distance between the vehicle and the exit of the ramp area, as represented by the positional relationship, is less than or equal to the fourth distance.

[0124] In some embodiments of this application, the second determining module 703 is further configured to, when a ramp speed limit sign is detected in the ramp area, determine the speed limit matching the third driving segment as the ramp speed limit speed in the ramp speed limit sign; and, when the type of road connected to the exit of the fourth driving segment is detected, adjust the speed limit matching the fourth driving segment based on the type to obtain the adjusted speed limit matching the fourth driving segment.

[0125] In some embodiments of this application, the second determining module 703 is further configured to determine the actual driving speed of the vehicle in each driving segment; the control module 704 is further configured to control the vehicle to drive in each driving segment of the driving segment set based on the actual driving speed of the vehicle in each driving segment and the speed limit matched for each driving segment.

[0126] In some embodiments of this application, the control module 704 is further configured to adjust the vehicle from the actual driving speed to the preset speed when the actual driving speed of the vehicle on the comparison road segment is greater than the speed limit matched by the comparison road segment, and control the vehicle to drive on the comparison road segment at the preset speed; and to control the vehicle to drive on the comparison road segment at the actual driving speed when the actual driving speed of the vehicle on the comparison road segment is less than or equal to the speed limit matched by the comparison road segment; wherein the comparison road segment is any road segment in the set of driving road segments; and the preset speed is less than or equal to the speed limit.

[0127] In some embodiments of this application, the control module 704 is further configured to determine the speed difference between the actual driving speed and the preset speed; determine an adjustment value matching the speed difference; and use the adjustment value as an adjustment step size to decelerate the vehicle from the actual driving speed to the preset speed.

[0128] In some embodiments of this application, the first determining module 701 is further configured to adjust the navigation road segment connecting the vehicle to the entrance of the ramp area when the distance between the vehicle and the entrance of the ramp area is a preset distance; and to determine the scenario of the vehicle entering the ramp.

[0129] It should be noted that the description of the above device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0130] Correspondingly, this application embodiment further provides a computer program product, which includes computer-executable instructions. After the computer-executable instructions are executed, they can implement the vehicle speed control method for ramp scenarios provided in this application embodiment.

[0131] Accordingly, embodiments of this application provide a computer device. Figure 8 This is a schematic diagram of the composition structure of a computer device provided in an embodiment of this application, such as... Figure 8As shown, the computer device 800 includes: a processor 801, at least one communication bus 804, a communication interface 802, at least one external communication interface, and a memory 803. The communication interface 802 is configured to enable communication between these components. The communication interface 802 may include a display screen, and the external communication interface may include standard wired and wireless interfaces. The processor 801 is configured to execute an information processing program in the memory to implement the vehicle speed control method for ramp scenarios provided in the above embodiments.

[0132] Accordingly, this application embodiment further provides a computer storage medium storing computer-executable instructions, which, when executed by a processor, implement the vehicle speed control method for ramp scenarios provided in the above embodiment.

[0133] The descriptions of the vehicle speed control device, computer equipment, and storage medium embodiments for ramp scenarios above are similar to the descriptions of the method embodiments above, and have similar technical descriptions and beneficial effects as the corresponding method embodiments. Due to space limitations, please refer to the descriptions of the method embodiments above, and therefore, they will not be repeated here. For technical details not disclosed in the embodiments of the vehicle speed control device, computer equipment, and storage medium for ramp scenarios provided in this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0134] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the present application, the sequence number of the above-described processes does not imply 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 the present application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0136] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0137] Furthermore, in the embodiments of this application, all functional units can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units. Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0138] Alternatively, if the integrated units described above in the embodiments of this application are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially or in other words, the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The above descriptions are merely specific implementations of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A vehicle speed control method for ramp scenarios, characterized in that, The set of driving segments includes: a first driving segment, a second driving segment, a third driving segment, and a fourth driving segment; the method includes: In a scenario where a vehicle enters a ramp area, determine the positional relationship between the vehicle and the ramp area; If the distance between the vehicle and the entrance of the ramp area, as characterized by the positional relationship, is less than a first distance and greater than a second distance, it is determined that the vehicle is traveling on the first travel segment in the ramp scenario; If the distance between the vehicle and the entrance of the ramp area, as characterized by the positional relationship, is less than or equal to the second distance and greater than the third distance, it is determined that the vehicle is traveling on the second travel segment in the ramp scenario; If the distance between the vehicle and the entrance of the ramp area, as characterized by the positional relationship, is less than or equal to the third distance, and the distance between the vehicle traveling within the ramp area and the exit of the ramp area is greater than or equal to the fourth distance, then the vehicle is determined to be traveling on the third travel segment in the ramp scenario. If the distance between the vehicle and the exit of the ramp area, as characterized by the positional relationship, is less than or equal to the fourth distance, it is determined that the vehicle is traveling on the fourth travel segment in the ramp scenario; If the type of road connected to the exit of the fourth driving segment is identified, the speed limit matched for the fourth driving segment is adjusted based on the type to obtain the adjusted speed limit matched for the fourth driving segment. Determine the speed limit corresponding to the ramp speed limit sign for each of the driving segments in the driving segment set and the actual driving speed of the vehicle in each driving segment; Based on the ratio of the vehicle's actual speed on each road segment to the speed limit corresponding to the ramp speed limit sign on each road segment, when the ratio is greater than 1, the vehicle is decelerated from the actual speed to a preset speed according to the adjustment step size corresponding to the ratio, and the vehicle is controlled to travel at the preset speed in each road segment of the road segment set.

2. The method according to claim 1, characterized in that, The determination of the speed limit matching each travel segment in the set of travel segments includes: If a ramp speed limit sign is detected in the ramp area, the speed limit corresponding to the ramp speed limit sign of the third driving section is determined to be the ramp speed limit speed in the ramp speed limit sign.

3. The method according to claim 1, characterized in that, After determining the ratio of the vehicle's actual speed on each road segment to the speed limit corresponding to the ramp speed limit sign on each road segment, the method further includes: If the actual driving speed of the vehicle on the road segment to be compared is greater than the speed limit matched by the road segment to be compared, the vehicle is adjusted from the actual driving speed to the preset speed, and the vehicle is controlled to drive in the road segment to be compared at the preset speed. If the actual driving speed of the vehicle on the road segment to be compared is less than or equal to the speed limit matched by the road segment to be compared, the vehicle is controlled to drive on the road segment to be compared at the actual driving speed. Wherein, the road segment to be compared is any road segment in the set of driving road segments; the preset speed is less than or equal to the speed limit.

4. The method according to claim 3, characterized in that, The step of adjusting the vehicle from the actual driving speed to the preset speed includes: Determine the speed difference between the actual driving speed and the preset speed; Determine an adjustment value that matches the speed difference; Using the adjustment value as the adjustment step size, the vehicle is decelerated from the actual driving speed to the preset speed.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: When the distance between the vehicle and the entrance of the ramp area is a preset distance, the vehicle is adjusted to enter the navigation segment connecting to the entrance of the ramp area; Determine the scenario where the vehicle enters the ramp.

6. A vehicle speed control device for ramp scenarios, characterized in that, The set of driving segments includes: a first driving segment, a second driving segment, a third driving segment, and a fourth driving segment; the device includes: The first determining module is used to determine the positional relationship between the vehicle and the ramp area when the vehicle enters a ramp area. The segmentation module is used to segment the road segment traveled by the vehicle in the ramp scenario based on the positional relationship, so as to obtain a set of travel segments; The second determining module is used to determine the speed limit corresponding to the ramp speed limit sign of each driving segment in the driving segment set and the actual driving speed of the vehicle in each driving segment. The control module is configured to: determine that the vehicle is traveling on the first travel segment in the ramp scenario when the distance between the vehicle and the entrance of the ramp area, as represented by the positional relationship, is less than a first distance and greater than a second distance; determine that the vehicle is traveling on the second travel segment in the ramp scenario when the distance between the vehicle and the entrance of the ramp area, as represented by the positional relationship, is less than or equal to the second distance and greater than a third distance; and determine that the vehicle is traveling on the second travel segment in the ramp scenario when the distance between the vehicle and the entrance of the ramp area, as represented by the positional relationship, is less than or equal to the third distance, and the distance between the vehicle and the exit of the ramp area, as represented by the positional relationship, is greater than or equal to a fourth distance. The system determines that the vehicle is traveling on the third travel segment in the ramp scenario; if the distance between the vehicle and the exit of the ramp area, which is characterized by the positional relationship, is less than or equal to the fourth distance, the system determines that the vehicle is traveling on the fourth travel segment in the ramp scenario; it is also used to determine that the vehicle is traveling on the fourth travel segment in the ramp scenario based on the ratio of the vehicle's actual travel speed in each travel segment to the speed limit corresponding to the speed limit sign of each travel segment, and when the ratio is greater than 1, to decelerate the vehicle from the actual travel speed to a preset speed according to the deceleration adjustment step size corresponding to the ratio, thereby controlling the vehicle to travel at the preset speed in each travel segment of the travel segment set; The second determining module is further configured to, upon identifying the type of road connected to the exit of the fourth driving segment, adjust the speed limit matched by the fourth driving segment based on the type, thereby obtaining the adjusted speed limit matched by the fourth driving segment.

7. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores computer-executable instructions, and when the processor executes the computer-executable instructions in the memory, it can implement the vehicle speed control method for ramp scenarios as described in any one of claims 1 to 5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions, which, when executed, enable the vehicle speed control method for ramp scenarios as described in any one of claims 1 to 5.

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