Speed limit control method and device and vehicle

Abstract

The invention discloses a speed limit control method and device and a vehicle, and the method comprises the steps: obtaining map speed limit information and visual speed limit information, and then, according to one or more of the position of the vehicle, the ramp driving-in intention, the relative position of a road speed limit signboard and the vehicle, the distance between the road speed limit signboard and the vehicle, and other information, determining the speed limit of the vehicle. The map speed limit information or the visual speed limit information is selected as the current speed limit information of the vehicle, so that the accuracy of visual identification is improved, and the speed limit control method has low requirement on computing power.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a speed limit control method and device, and a vehicle. Background Art

[0002] With the development of intelligent transportation technology, it is becoming increasingly important to accurately identify speed limit signs. At present, the number of domestic passenger cars equipped with intelligent speed limit recognition functions is increasing, and it is gradually being extended to commercial vehicles.

[0003] In the related art, a camera can be used to identify the speed limit sign on the road to determine the speed limit value. However, the current method based on visual recognition of speed limit signs has a high error rate and high requirements. Summary of the invention

[0004] The embodiment of the present application provides a speed limit control method and device, and a vehicle. The following introduces various aspects involved in the embodiment of the present application.

[0005] In a first aspect, a speed limit control method is provided, comprising: obtaining current map data of a vehicle, the map data comprising current position information of the vehicle and map speed limit information of the vehicle; obtaining visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle identifying a road speed limit sign; identifying the vehicle's intention to enter a ramp according to first driving information of the vehicle, the first driving information comprising one or more of the following information: current position information of the vehicle, field of view information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; and selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to second driving information of the vehicle, the second driving information comprising one or more of the following information: the position of the vehicle, the intention to enter the ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle.

[0006] As a possible implementation manner, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle based on the second driving information of the vehicle includes: if the vehicle is close to a ramp, the vehicle is on a main road, and the speed limit sign is located on the non-regulatory side or front upper side of the vehicle, then selecting the visual speed limit information as the current speed limit information of the vehicle.

[0007] As a possible implementation manner, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle based on the second driving information of the vehicle includes: if the vehicle is close to a ramp and the speed limit sign is located on the regulatory side or front upper side of the vehicle, then based on the intention to enter the ramp and the distance between the road speed limit sign and the vehicle, selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle.

[0008] As a possible implementation manner, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle based on the second driving information of the vehicle includes: if the vehicle is close to a ramp, the speed limit sign is located on the legal side or the front upper part of the vehicle, the intention to enter the ramp is not recognized, and the distance between the road speed limit sign and the vehicle is less than a first threshold, then selecting the visual speed limit information as the current speed limit information of the vehicle; or if the vehicle is close to a ramp, the speed limit sign is located on the legal side or the front upper part of the vehicle, the intention to enter the ramp is recognized, and the distance between the road speed limit sign and the vehicle is less than a second threshold, then selecting the visual speed limit information as the current speed limit information of the vehicle; wherein the first threshold is less than the second threshold.

[0009] As a possible implementation manner, the selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle based on the second driving information of the vehicle includes: if the vehicle has entered the ramp and the speed limit sign is located on the regulatory side or front and upper side of the vehicle, selecting the visual speed limit information as the current speed limit information of the vehicle; or if the vehicle has entered the ramp, the speed limit sign is located on the non-regulatory side of the vehicle, and the distance between the road speed limit sign and the vehicle is less than a third threshold, selecting the visual speed limit information as the current speed limit information of the vehicle.

[0010] As a possible implementation manner, before selecting the current speed limit information of the vehicle, the method also includes: determining the legal side of the vehicle and the illegal side of the vehicle based on the current position information of the vehicle; the legal side of the vehicle is the right side or left side of the vehicle, and the illegal side of the vehicle is the left side or right side of the vehicle.

[0011] As a possible implementation manner, the method further includes: if the visual sensor of the vehicle does not recognize the speed limit sign, selecting the map speed limit information as the current speed limit information of the vehicle.

[0012] As a possible implementation manner, the map speed limit information includes one or more of the following: electronic eye speed limit information, speed limit information of the vehicle at the current location queried through an offline map or an online map.

[0013] In a second aspect, a speed limit control device includes: a first acquisition module, used to acquire current map data of a vehicle, wherein the map data includes current position information of the vehicle and map speed limit information of the vehicle; a second acquisition module, used to acquire visual speed limit information, wherein the visual speed limit information is speed limit information obtained by a visual sensor of the vehicle identifying a road speed limit sign; an identification module, used to identify the vehicle's intention to enter a ramp according to first driving information of the vehicle, wherein the first driving information includes one or more of the following information: current position information of the vehicle, field of view information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; a selection module, used to select the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to second driving information of the vehicle, wherein the second driving information includes one or more of the following information: the position of the vehicle, the intention to enter the ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle.

[0014] In a third aspect, a chip is provided, comprising: a processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method described in the first aspect.

[0015] In a fourth aspect, a vehicle is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the vehicle to execute the method described in the first aspect.

[0016] According to a fifth aspect, a computer-readable storage medium is provided, on which executable code is stored. When the executable code is executed, the method described in the first aspect can be implemented.

[0017] The present application provides a speed limit control method, including: obtaining the current map data of the vehicle, the map data including the current position information of the vehicle and the map speed limit information of the vehicle; obtaining visual speed limit information, the visual speed limit information is the speed limit information obtained by the visual sensor of the vehicle identifying the road speed limit sign; according to the first driving information of the vehicle, identifying the vehicle's intention to enter the ramp, the first driving information including one or more of the following information: the current position information of the vehicle, the field of vision information of the vehicle, the steering angle information of the vehicle, the turn signal information of the vehicle and the lane change information of the vehicle; according to the second driving information of the vehicle, selecting the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle, the second driving information including one or more of the following information: the position of the vehicle, the intention to enter the ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle. The embodiment of the present application utilizes the simple position information of the road speed limit sign (such as the relative position of the road speed limit sign and the vehicle) and the distance information (such as the distance between the road speed limit sign and the vehicle) of the road speed limit sign to assist in identifying or selecting the speed limit information of the vehicle, which helps to improve the accuracy of visual recognition, and the method has low requirements for computing power. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flow chart of a speed limit control method provided in one embodiment of the present application.

[0019] Figure 2 It is a flow chart of a speed limit control method provided in another embodiment of the present application.

[0020] Figure 3 It is a schematic diagram of the structure of a vehicle provided in one embodiment of the present application.

[0021] Figure 4 It is a structural schematic diagram of a speed limit control device provided in one embodiment of the present application.

[0022] Figure 5 It is a schematic diagram of the structure of a vehicle provided in another embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] At present, automatic recognition of road speed limit values ​​has gradually become a standard feature of vehicles. Domestic passenger cars are currently equipped with an increasing number of intelligent speed limit recognition functions, and commercial vehicles will gradually keep up. European regulations require that all vehicles exported to Europe need to have intelligent speed assistance functions, and the accuracy of mileage recognition needs to be greater than 90%; currently, domestic recognition of the two words "ramp" or ramp signs on signboards is difficult and has poor recognition accuracy. Secondly, using large computing power to recognize Chinese characters and diverse symbols on speed limit signs is costly and not conducive to mass production. In addition, if the method of recognizing Chinese characters is only applicable to China, there are no signs on ramp speed limit signs in many foreign countries. If the ramp speed limit signs are not processed, what you see is what you get, which will lead to a high recognition error rate.

[0026] In response to the above problems, the present application provides a speed limit control method, including: obtaining current map data of a vehicle, the map data including current position information of the vehicle and map speed limit information of the vehicle; obtaining visual speed limit information, the visual speed limit information being speed limit information obtained by a visual sensor of the vehicle identifying a road speed limit sign; identifying the vehicle's intention to enter a ramp based on first driving information of the vehicle, the first driving information including one or more of the following information: current position information of the vehicle, field of vision information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; selecting map speed limit information or visual speed limit information as the vehicle's current speed limit information based on second driving information of the vehicle, the second driving information including one or more of the following information: the vehicle's position, the intention to enter a ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle. The embodiment of the present application utilizes simple position information of a road speed limit sign (such as the relative position of the road speed limit sign and the vehicle) and distance information (such as the distance between the road speed limit sign and the vehicle) to assist in identifying or selecting the speed limit information of the vehicle, thereby helping to improve the accuracy of visual recognition, and the method has low requirements on computing power.

[0027] Combined with the following Figure 1 The speed limit control method in the embodiment of the present application is described in detail. Figure 1 As shown, the speed limit control method 100 may include steps: S110-S150.

[0028] In step S110, current map data of the vehicle is acquired, where the map data includes current position information of the vehicle and map speed limit information of the vehicle.

[0029] The map speed limit information includes one or more of the following: electronic eye speed limit information, and speed limit information of the vehicle at the current location queried through an offline map or an online map. The electronic eye speed limit information may refer to the speed limit value of the electronic eye in front of the vehicle, and the speed limit information of the vehicle at the current location queried through an offline map or an online map may refer to the road speed limit information on the map.

[0030] For example, the current map speed limit information of the vehicle may be obtained from the map application based on the cross-process communication technology.

[0031] In step S120, visual speed limit information is obtained, where the visual speed limit information is the speed limit information obtained by the vehicle's visual sensor identifying a road speed limit sign.

[0032] Exemplarily, the visual sensor may be a camera on the vehicle. Using one or more visual sensors on the vehicle, real-time visual image data in front of the vehicle is acquired; a road speed limit sign is identified based on the visual image data; and visual speed limit information is determined based on the identified road speed limit sign.

[0033] In some embodiments, the above step S110 and step S120 may be executed in an exchanged order or simultaneously.

[0034] In step S130, the vehicle's intention to enter the ramp is identified based on first driving information of the vehicle, where the first driving information includes one or more of the following information: current position information of the vehicle, field of view information of the vehicle, steering angle information of the vehicle (such as steering wheel steering angle), turn signal information of the vehicle (such as left turn signal flashing information or right turn signal flashing information), and lane change information of the vehicle (such as left lane change information or right lane change information of the vehicle, and the lane change information of the vehicle can be determined based on the wheel crossing condition of the vehicle).

[0035] In the embodiments of the present application, the current position of the vehicle can be obtained through a positioning system such as Beidou or GPS. The current position of the vehicle can refer to the position of the vehicle on the road, such as the vehicle is located on the main road of the road, or the vehicle is located on the ramp of the road; the current position of the vehicle can also refer to the geographical location of the vehicle, such as the vehicle is located in mainland China, or the vehicle is located in the Hong Kong Special Administrative Region of China, or the vehicle is located in a country or region in Europe. The present application does not make specific restrictions on this.

[0036] The embodiment of the present application can determine the vehicle's intention to enter the ramp based on more or less information in the first driving information, and the application does not impose specific restrictions on this. For example, if the regulatory side is the right side, if the vehicle is near the ramp entrance, the vehicle turns on the right turn signal, and changes lanes to the right or the far right, then it is determined that the vehicle has the intention to enter the ramp.

[0037] For another example, if the regulatory side is the left side, if the vehicle is near the ramp entrance, the vehicle turns on the left turn signal and changes lanes to the left or the leftmost side, it is judged that the vehicle has the intention to enter the ramp.

[0038] For another example, if the vehicle is near a ramp entrance and the steering angle of the vehicle's steering wheel is greater than 45 degrees, it is determined that the vehicle has the intention to enter the ramp.

[0039] It should be noted that the regulatory side in the embodiments of the present application is the driving side determined based on the laws or regulations of the area where the vehicle is driving. For example, if the vehicle is driving in mainland China and its laws or regulations stipulate that the vehicle must drive on the right, then the regulatory side of the vehicle is the right side. For another example, if the vehicle is driving in the Hong Kong Special Administrative Region of China and its laws or regulations stipulate that the vehicle must drive on the left, then the regulatory side of the vehicle is the left side. For another example, if the vehicle is driving in a certain area in Europe and its laws or regulations stipulate that the vehicle must drive on the left, then the regulatory side of the vehicle is the left side.

[0040] It should be understood that if the regulatory side is the left side, the non-regulatory side is the right side; if the regulatory side is the right side, the non-regulatory side is the left side.

[0041] That is to say, based on the current location information of the vehicle (i.e., the current geographical location, such as the vehicle is in Europe, or the vehicle is in China, etc.), the legal side of the vehicle and the illegal side of the vehicle can be determined; the legal side of the vehicle is the right side or left side of the vehicle, and the illegal side of the vehicle is the left side or right side of the vehicle.

[0042] In some implementations, a mapping relationship between the geographic location of the vehicle and the regulatory side of the vehicle may be pre-established.

[0043] In some implementations, the field of view information of the vehicle may refer to the field of view information in front of the vehicle collected by a visual sensor on the vehicle. The field of view information may include speed limit sign information within the field of view of the vehicle, or road information in front of the vehicle.

[0044] In step S140, based on the second driving information of the vehicle, the map speed limit information or the visual speed limit information is selected as the current speed limit information of the vehicle, and the second driving information includes one or more of the following information: the position of the vehicle, the intention to enter the ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle.

[0045] In some implementations, if the vehicle is approaching a ramp, the vehicle is on a main road, and the speed limit sign is located on a non-legal side or above the front of the vehicle, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0046] Of course, before selecting the current speed limit information of the vehicle, it can be determined whether the vehicle is on the main road based on the map positioning information of the vehicle and the field of vision information of the vehicle.

[0047] In some implementations, if the vehicle is approaching a ramp and the speed limit sign is located on the regulatory side or above the front of the vehicle, map speed limit information or visual speed limit information is selected as the vehicle's current speed limit information based on the intention to enter the ramp and the distance between the road speed limit sign and the vehicle.

[0048] As an example, if the vehicle approaches a ramp, the speed limit sign is located on the regulatory side or front and top of the vehicle, the intention to enter the ramp is not recognized, and the distance between the road speed limit sign and the vehicle is less than a first threshold (such as the distance of one lane), the visual speed limit information is selected as the vehicle's current speed limit information.

[0049] That is to say, if the vehicle has no intention to enter the ramp, and the road speed limit sign on the regulatory side or the upper front is a ramp speed limit sign, the closest distance between the vehicle and the road speed limit sign on the regulatory side or the upper front will be greater than or equal to the first threshold. If the distance between the vehicle and the road speed limit sign on the regulatory side or the upper front is less than the first threshold, it means that the road speed limit sign on the regulatory side or the upper front is a speed limit sign for the main road. Of course, if the distance between the vehicle and the road speed limit sign on the regulatory side or the upper front is greater than or equal to the first threshold, the map speed limit information is selected as the current speed limit information of the vehicle.

[0050] As another example, if the vehicle approaches a ramp, the speed limit sign is located on the regulatory side or front upper side of the vehicle, the intention to enter the ramp is recognized, and the distance between the road speed limit sign and the vehicle (for example, the center of the front of the vehicle can be used as a reference point) is less than a second threshold (such as the distance between two lanes), then the visual speed limit information is selected as the current speed limit information of the vehicle; wherein the first threshold is less than the second threshold. The first threshold and the second threshold can be set as required.

[0051] That is to say, if the vehicle intends to enter the ramp, and the road speed limit sign on the regulatory side or the upper front is a speed limit sign for the main road, the closest distance between the vehicle and the road speed limit sign on the regulatory side or the upper front will be greater than or equal to the second threshold. If the distance between the vehicle and the road speed limit sign on the regulatory side or the upper front is less than the second threshold, it means that the road speed limit sign on the regulatory side or the upper front is a speed limit sign for the ramp. Of course, if the distance between the vehicle and the road speed limit sign on the regulatory side or the upper front is greater than or equal to the second threshold, the map speed limit information is selected as the current speed limit information of the vehicle.

[0052] In some implementations, if the vehicle has entered the ramp and the speed limit sign is located on the regulatory side or above the front of the vehicle, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0053] In some implementations, if the vehicle has entered the ramp, the speed limit sign is located on the non-regulatory side of the vehicle, and the distance between the road speed limit sign and the vehicle is less than a third threshold, the visual speed limit information is selected as the current speed limit information of the vehicle.

[0054] That is to say, if the vehicle has entered the ramp, and the speed limit sign on the non-regulatory side road is the speed limit sign on the main road, the closest distance between the vehicle and the speed limit sign on the non-regulatory side road will be greater than or equal to the third threshold. If the distance between the vehicle and the speed limit sign on the non-regulatory side road is less than the third threshold, it means that the speed limit sign on the non-regulatory side road is the speed limit sign on the ramp. Of course, if the distance between the vehicle and the speed limit sign on the non-regulatory side road is greater than or equal to the third threshold, the map speed limit information is selected as the current speed limit information of the vehicle. The third threshold can be set according to demand, and this application does not impose specific restrictions on this.

[0055] In some implementations, if the visual sensor of the vehicle does not recognize the speed limit sign, the map speed limit information is selected as the current speed limit information of the vehicle.

[0056] It should be noted that the upper front of the vehicle, the regulatory side of the vehicle, and the non-regulatory side of the vehicle in the embodiments of the present application are all based on the direction of travel of the vehicle. For example, a speed limit sign located at the upper front of the vehicle may mean that the speed limit sign is located at the upper front of the vehicle in the direction of travel of the vehicle. For another example, a speed limit sign located at the regulatory side of the vehicle may mean that the speed limit sign is located at the regulatory side of the vehicle in the direction of travel of the vehicle. For another example, a speed limit sign located at the non-regulatory side of the vehicle may mean that the speed limit sign is located at the non-regulatory side of the vehicle in the direction of travel of the vehicle.

[0057] The following describes the embodiments of the present application in more detail with reference to specific examples. Figure 2It is only to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0058] Figure 2 This is another speed limit control method provided by the embodiment of the present application, see Figure 2 , the speed limit control method may include the following steps: S201 to S211. It should be noted that, Figure 2 The medium speed limit control method is illustrated with the regulation side as the right side.

[0059] In step S201: determine whether a road speed limit sign is detected. For example, the road speed limit sign (also referred to as the speed limit sign) can be identified through the vehicle's field of view information. If the speed limit sign is identified, jump to step S203; if the speed limit sign is not identified, jump to step S202.

[0060] In step S202: determine whether the map speed limit information (may be referred to as the map speed limit) has changed. If the map speed limit has changed, jump to step S211; if the map speed limit has not changed, jump to step S208.

[0061] In step S203: determine whether the vehicle is near the ramp. If the vehicle is not near the ramp, jump to step S206; if the vehicle is near the ramp, jump to step S204.

[0062] In step S204: determine whether the vehicle has entered the ramp. If the vehicle has not entered the ramp, jump to step S205; if the vehicle has entered the ramp, jump to step S209.

[0063] In step S205: determine the position of the speed limit sign. If the speed limit sign is located on the left side or top of the vehicle, jump to step S206; if the speed limit sign is located on the right side of the vehicle, jump to step S207.

[0064] In step S206: the current speed limit of the vehicle is updated to the speed limit indicated by the speed limit sign.

[0065] In step S207: the intention of the vehicle to enter the ramp and the distance between the vehicle and the speed limit sign are determined.

[0066] If the condition is met (the intention to enter the ramp is not recognized, and the distance between the speed limit sign and the vehicle is less than the first threshold; or the intention to enter the ramp is recognized, and the distance between the speed limit sign and the vehicle is less than the second threshold), jump to step S206. If the condition is not met (the intention to enter the ramp is not recognized, and the distance between the speed limit sign and the vehicle is greater than or equal to the first threshold; or the intention to enter the ramp is recognized, and the distance between the speed limit sign and the vehicle is greater than or equal to the second threshold), jump to step S208.

[0067] In step S208: the vehicle does not update the current speed limit information.

[0068] In step S209: determine the position of the speed limit sign. If the speed limit sign is located on the right side or top of the vehicle, jump to step S206; if the speed limit sign is located on the left side of the vehicle, jump to step S210.

[0069] In step S210: determine the distance between the vehicle and the speed limit sign.

[0070] If the condition is met (the distance between the speed limit sign and the vehicle is less than the third threshold), jump to step S206; if the condition is not met (the distance between the speed limit sign and the vehicle is greater than or equal to the third threshold), jump to step S211.

[0071] The present application also provides a vehicle, see Figure 3 , the vehicle may include a controller 310 , a visual sensor 320 , a map information processing module 330 , and an antenna 340 .

[0072] The controller 310 is mainly used for logical judgment and data processing. The visual sensor 320 (such as a camera) is mainly used to collect image data. Image data processing is mainly completed in the controller 310. For example, the controller 310 can be used to receive image data (such as image data of a speed limit sign) collected by the visual sensor 320, and the controller 310 can be used to process the above image data to obtain the speed limit value of the speed limit sign and the distance information between the vehicle and the speed limit sign. The controller 310 can send instructions to the entire vehicle to display the current speed limit information of the vehicle. The instruction can, for example, be an instruction to update the vehicle speed limit information to the speed limit information of the speed limit sign. The antenna 340 is set on the map information processing module 330, and the antenna 340 can communicate with the satellite for real-time positioning of the vehicle. The map information processing module 330 can be used to obtain the driving map information of the vehicle according to the current position of the vehicle. The map information processing module 330 can be, for example, a display screen or a central control screen, and this application does not make specific restrictions on this.

[0073] The present application does not specifically limit the communication method between the map information processing module 330 and the controller 310. For example, the map information processing module 330 and the controller 310 can communicate via a serial port; for another example, the map information processing module 330 and the controller 310 can also communicate via a CAN bus. The controller 310 and the vehicle system can communicate via a CAN bus. In some implementations, the controller 310 may also include a microprocessor 311 to relieve the processing pressure of the processor 310.

[0074] Combination of the above Figures 1 to 3 The method embodiment of the present application is described in detail. Figures 4 to 5 The device embodiment of the present application is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.

[0075] Figure 4 FIG. 4 is a schematic diagram of the structure of a speed limit control device provided by an embodiment of the present application. The speed limit control device 400 may include a first acquisition module 410 , a second acquisition module 420 , an identification module 430 and a selection module 440 .

[0076] The first acquisition module 410 is used to acquire current map data of the vehicle, where the map data includes current location information of the vehicle and map speed limit information of the vehicle.

[0077] The second acquisition module 420 is used to acquire visual speed limit information, where the visual speed limit information is the speed limit information obtained by the visual sensor of the vehicle identifying the road speed limit sign.

[0078] The identification module 430 is used to identify the vehicle's intention to enter the ramp based on the first driving information of the vehicle, where the first driving information includes one or more of the following information: the vehicle's current position information, the vehicle's field of view information, the vehicle's steering angle information, the vehicle's turn signal information, and the vehicle's lane change information.

[0079] The selection module 440 is used to select the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to the second driving information of the vehicle, wherein the second driving information includes one or more of the following information: the position of the vehicle, the intention to enter the ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle.

[0080] Optionally, the selection module 440 is used to: if the vehicle is close to a ramp, the vehicle is on a main road, and the speed limit sign is located on the non-regulatory side or front upper side of the vehicle, select the visual speed limit information as the current speed limit information of the vehicle.

[0081] Optionally, the selection module 440 is used to: if the vehicle is close to the ramp and the speed limit sign is located on the regulatory side or front upper side of the vehicle, then according to the intention to enter the ramp and the distance between the road speed limit sign and the vehicle, select the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle.

[0082] Optionally, the selection module 440 is used to: if the vehicle is close to the ramp, the speed limit sign is located on the legal side or front upper side of the vehicle, the intention to enter the ramp is not recognized, and the distance between the road speed limit sign and the vehicle is less than a first threshold, then select the visual speed limit information as the current speed limit information of the vehicle; or if the vehicle is close to the ramp, the speed limit sign is located on the legal side or front upper side of the vehicle, the intention to enter the ramp is recognized, and the distance between the road speed limit sign and the vehicle is less than a second threshold, then select the visual speed limit information as the current speed limit information of the vehicle; wherein the first threshold is less than the second threshold.

[0083] Optionally, the selection module 440 is used to: if the vehicle has entered the ramp and the speed limit sign is located on the regulatory side or front and upper side of the vehicle, select the visual speed limit information as the current speed limit information of the vehicle; or if the vehicle has entered the ramp, the speed limit sign is located on the non-regulatory side of the vehicle, and the distance between the road speed limit sign and the vehicle is less than a third threshold, select the visual speed limit information as the current speed limit information of the vehicle.

[0084] Optionally, the device 400 also includes: a determination module, used to determine the legal side of the vehicle and the illegal side of the vehicle according to the current position information of the vehicle before selecting the current speed limit information of the vehicle; the legal side of the vehicle is the right side or left side of the vehicle, and the illegal side of the vehicle is the left side or right side of the vehicle.

[0085] Optionally, the device 400 further includes: a second selection module, configured to select the map speed limit information as the current speed limit information of the vehicle if the visual sensor of the vehicle fails to recognize the speed limit sign.

[0086] Optionally, the map speed limit information includes one or more of the following: electronic eye speed limit information, speed limit information of the vehicle at the current location queried through an offline map or an online map.

[0087] Combine the following Figure 5 The present invention introduces a vehicle 500 in an embodiment of the present application. The vehicle 500 can be used to implement the method described in the above method embodiment.

[0088] The vehicle 500 may include one or more processors 510. The processor 510 may support the vehicle 500 to implement the method described in the above method embodiment.

[0089] The processor 510 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be 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. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0090] The vehicle 500 may further include one or more memories 520. The memory 520 stores a program that can be executed by the processor 510 to control the vehicle 500 to execute the method described in the above method embodiment. The memory 520 may be independent of the processor 510 or integrated in the processor 510.

[0091] The vehicle 500 may further include a transceiver 530. The processor 510 may communicate with other devices through the transceiver 530. For example, the processor 510 may transmit and receive data with other devices through the transceiver 530.

[0092] The present application also provides a chip in an embodiment, including a processor, which can be used to call and run a computer program from a memory, so that a vehicle equipped with the chip executes the method described in the above method embodiment. It is understood that the processor can be any type of processor mentioned above. It is understood that the memory can be independent of the chip or integrated in the chip.

[0093] The embodiment of the present application also provides a machine-readable storage medium for storing a program, and the program enables a computer to execute the method in each embodiment of the present application.

[0094] The embodiment of the present application also provides a computer program product. The computer program product includes a program. The program enables a computer to execute the method in each embodiment of the present application.

[0095] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a machine-readable storage medium, or transmitted from one machine-readable storage medium to another machine-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The machine-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0096] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments of the present disclosure can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0097] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0099] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0100] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A speed limit control method, characterized in that: include: Acquiring current map data of the vehicle, the map data including current position information of the vehicle and map speed limit information of the vehicle; Acquiring visual speed limit information, where the visual speed limit information is speed limit information obtained by the visual sensor of the vehicle identifying a road speed limit sign; identifying the vehicle's intention to enter a ramp according to first driving information of the vehicle, the first driving information including one or more of the following information: current position information of the vehicle, field of view information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; The map speed limit information or the visual speed limit information is selected as the current speed limit information of the vehicle according to second driving information of the vehicle, wherein the second driving information includes one or more of the following information: the position of the vehicle, the intention to enter the ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle.

2. The method according to claim 1, characterized in that The selecting, according to the second driving information of the vehicle, the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle includes: If the vehicle is close to a ramp, the vehicle is on a main road, and the speed limit sign is located on a non-legal side or above the front of the vehicle, the visual speed limit information is selected as the current speed limit information of the vehicle.

3. The method according to claim 1, characterized in that The selecting, according to the second driving information of the vehicle, the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle includes: If the vehicle is close to a ramp and the speed limit sign is located on the regulatory side or above the front of the vehicle, the map speed limit information or the visual speed limit information is selected as the current speed limit information of the vehicle based on the intention to enter the ramp and the distance between the road speed limit sign and the vehicle.

4. The method according to claim 3, characterized in that The selecting, according to the second driving information of the vehicle, the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle comprises: If the vehicle is close to a ramp, the speed limit sign is located on the regulatory side or above the front of the vehicle, the intention to enter the ramp is not recognized, and the distance between the road speed limit sign and the vehicle is less than a first threshold, then the visual speed limit information is selected as the current speed limit information of the vehicle; or If the vehicle approaches a ramp, the speed limit sign is located on the regulatory side or above the front of the vehicle, the intention to enter the ramp is recognized, and the distance between the road speed limit sign and the vehicle is less than a second threshold, then the visual speed limit information is selected as the current speed limit information of the vehicle; The first threshold is smaller than the second threshold.

5. The method according to claim 1, characterized in that The selecting, according to the second driving information of the vehicle, the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle includes: If the vehicle has entered the ramp and the speed limit sign is located on the regulatory side or above the front of the vehicle, selecting the visual speed limit information as the current speed limit information of the vehicle; or If the vehicle has entered the ramp, the speed limit sign is located on the non-regulatory side of the vehicle, and the distance between the road speed limit sign and the vehicle is less than a third threshold, the visual speed limit information is selected as the current speed limit information of the vehicle.

6. The method according to claim 2, characterized in that Before selecting the current speed limit information of the vehicle, the method further includes: Determining a regulatory side of the vehicle and a non-regulatory side of the vehicle according to current position information of the vehicle; The legal rule of the vehicle is the right side or the left side of the vehicle, and the illegal rule of the vehicle is the left side or the right side of the vehicle.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: If the visual sensor of the vehicle does not recognize the speed limit sign, the map speed limit information is selected as the current speed limit information of the vehicle.

8. The method according to any one of claims 1 to 6, characterized in that The map speed limit information includes one or more of the following: electronic eye speed limit information, speed limit information of the vehicle at the current location queried through an offline map or an online map.

9. A speed limit control device, characterized in that: include: A first acquisition module, used to acquire current map data of the vehicle, wherein the map data includes current position information of the vehicle and map speed limit information of the vehicle; A second acquisition module is used to acquire visual speed limit information, where the visual speed limit information is the speed limit information obtained by the visual sensor of the vehicle identifying the road speed limit sign; an identification module, configured to identify the vehicle's intention to enter a ramp according to first driving information of the vehicle, wherein the first driving information includes one or more of the following information: current position information of the vehicle, field of view information of the vehicle, steering angle information of the vehicle, turn signal information of the vehicle, and lane change information of the vehicle; A selection module is used to select the map speed limit information or the visual speed limit information as the current speed limit information of the vehicle according to second driving information of the vehicle, wherein the second driving information includes one or more of the following information: the position of the vehicle, the intention to enter the ramp, the relative position of the road speed limit sign and the vehicle, and the distance between the road speed limit sign and the vehicle.

10. A vehicle, characterized in that: include: A processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the vehicle to execute the method as described in any one of claims 1-8.

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