Automatic driving vehicle speed control method and device, computer equipment and storage medium

Abstract

The invention relates to an automatic driving vehicle speed control method and device, computer equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the following steps: firstly, setting a speed limit value of a current vehicle in each road section of a driving lane as a first limited vehicle speed based on speed limit values of speed limit boards, then calculating a difference value of the speed limit values of the speed limit boards of adjacent road sections as a speed limit change value, and identifying target road sections with unreasonable speed limit, cliff type speed reduction and fluctuating speed limit according to the speed limit change value; the first limited vehicle speed of the target road section is corrected into a second limited vehicle speed, the second limited vehicle speed increases the range of the selectable vehicle speed, finally, a third limited vehicle speed of each road section is generated within the limited vehicle speed range of each road section based on the historical driving vehicle speed, and the third limited vehicle speed conforms to the driving habits of most users. And thirdly, the vehicle speed is limited to be in stable transition, the vehicle speed is stable within a reasonable speed limiting range, the driving efficiency is improved, the safety of intelligent driving and people driving is improved, and the comfort degree is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to an automatic driving vehicle speed control method, device, computer equipment and storage medium. Background Art

[0002] In the intelligent driving function, the intelligent driving data collection function collects the driving behaviors and data of intelligent driving and users, and uploads them to the cloud from the vehicle side. Through big data cleaning, extraction, analysis, and storage, the speed range is calculated and then sent to the vehicle side for users to use. However, the existing intelligent driving speed is implemented according to the road speed limit sign. However, with the increase in road infrastructure, the number of speed limit signs has increased after road changes, and the speed limit signs are inconsistent within a short distance, resulting in unreasonable speed limits, cliff-like speed reductions, and undulating speed limits in the recommended speeds of intelligent driving, causing the intelligent driving speed to be unreasonable, affecting the speed stability, and failing to meet the user's high comfort, high safety, high efficiency, and personalized driving needs. In addition, when the intelligent driving speed is unreasonable, the efficiency of updating the reasonable speed data is slow, requiring a lot of manual review, affecting the user experience. Summary of the invention

[0003] Based on this, an automatic driving speed control method, device, computer equipment and storage medium are provided to solve the technical problem that the intelligent driving recommended speed has unreasonable speed limit, cliff-like speed reduction, and fluctuating speed limit, which causes the intelligent driving speed to be unreasonable, affects the speed stability, and cannot meet the user's high comfort, high safety, high efficiency, and personalized driving needs.

[0004] In one aspect, a method for controlling vehicle speed in an automatic driving system is provided, the method comprising:

[0005] Collecting driving data of the current vehicle, wherein the driving data includes a lane in which the current vehicle is traveling in the map data;

[0006] Divide the driving lane into a plurality of road sections, and obtain the speed limit value of the speed limit sign of each road section;

[0007] Generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0008] Calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values;

[0009] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed;

[0010] Acquire a historical driving speed corresponding to each road segment of the driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving speed within a limited vehicle speed range of each road segment;

[0011] The current vehicle is controlled to travel on the driving lane at the third limited vehicle speed.

[0012] In one embodiment, generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign includes:

[0013] Collecting an image of the current vehicle on the driving lane, and determining whether a speed limit sign is set on the driving lane;

[0014] If no speed limit sign is set on the driving lane, identifying the type of the driving lane and setting a default speed limit value according to the type of the driving lane;

[0015] If a speed limit sign is set on the driving lane, the speed limit value of the speed limit sign is obtained, and the speed limit value on the driving lane is set as the speed limit value of the speed limit sign.

[0016] In one embodiment, in response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change values ​​of adjacent road segments being opposite values, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed includes:

[0017] When the absolute value of the speed limit change value is greater than a first threshold, taking the adjacent road segment with the smallest speed limit value on the speed limit sign among the adjacent road segments for calculating the speed limit change value as the target road segment;

[0018] When the speed limit change values ​​of the adjacent road segments are opposite in positive and negative values, the adjacent road segments are all used as target road segments;

[0019] The second limited vehicle speed is set to be greater than the first limited vehicle speed, and whether each road segment is a target road segment is determined; if it is a target road segment, the first limited vehicle speed is replaced by the second limited vehicle speed; if it is not a target road segment, the first limited vehicle speed is maintained unchanged.

[0020] In one embodiment, obtaining the historical driving speed corresponding to each road segment of the driving lane includes:

[0021] Collecting vehicle data generated when the vehicle is traveling on the driving lane;

[0022] Acquire a driving image corresponding to each road segment of the driving lane from the vehicle data to form first driving data;

[0023] encrypting the private image in the first operation data to form second operation data;

[0024] The second driving data is cleaned, and a driving speed range in the second driving data after data cleaning is obtained to form a historical driving speed corresponding to each of the road segments.

[0025] In one embodiment, cleaning the data of the second line includes:

[0026] Identify whether there is duplicate data in the data of the second line, and if there is duplicate data, delete or merge the duplicate data;

[0027] Identify whether there are null / missing data and abnormal value status data in the second line of data;

[0028] When there are null / missing data, fill in the missing data by estimation or interpolation in the data in the second line;

[0029] When abnormal value status data exists, the abnormal value status data is deleted in the second row of data.

[0030] In one embodiment, generating the third limited vehicle speed for each road segment based on the historical driving speed within the limited vehicle speed range of each road segment comprises:

[0031] Obtaining the mode of the historical driving speed corresponding to each of the road segments;

[0032] It is determined whether the mode is distributed within the limited speed range of each road segment. If so, the mode is used as the third limited speed of the corresponding road segment. If not, the limited speed value with the smallest difference from the mode within the limited speed range is used as the third limited speed of the corresponding road segment.

[0033] In one embodiment, controlling the current vehicle to travel on the driving lane at the third limited vehicle speed includes:

[0034] Marking the third limited vehicle speed on each road segment of the driving lane in the map data to form an intelligent driving speed map package;

[0035] The experienced vehicle speed map package is sent to the current vehicle, and the third limited vehicle speed is used to control the current vehicle to travel on the driving lane.

[0036] In another aspect, a device for controlling vehicle speed of an automatic driving vehicle is provided, the device comprising:

[0037] A driving data collection module is used to collect driving data of the current vehicle, wherein the driving data includes the lane in which the current vehicle is traveling in the map data;

[0038] A speed limit sign speed limit value acquisition module is used to divide the driving lane into multiple road sections and obtain the speed limit sign speed limit value of each road section;

[0039] An initial speed limit acquisition module, used to generate a first limited speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0040] a road segment speed limit change judgment module, used to calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, and judge whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of adjacent road segments are opposite values;

[0041] a road segment speed limit correction module, configured to, in response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change values ​​of adjacent road segments being opposite in positive and negative values, obtain a road segment corresponding to the speed limit change value as a target road segment, and correct the first limited vehicle speed of the target road segment to a second limited vehicle speed;

[0042] An intelligent driving speed selection module is used to obtain the historical driving speed corresponding to each road segment of the driving lane, and generate a third limited speed for each road segment based on the historical driving speed within the limited speed range of each road segment;

[0043] The intelligent driving speed control module is used to control the current vehicle to travel at the third limited speed on the driving lane.

[0044] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0045] Collecting driving data of the current vehicle, wherein the driving data includes a lane in which the current vehicle is traveling in the map data;

[0046] Divide the driving lane into a plurality of road sections, and obtain the speed limit value of the speed limit sign of each road section;

[0047] Generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0048] Calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values;

[0049] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed;

[0050] Acquire a historical driving speed corresponding to each road segment of the driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving speed within a limited vehicle speed range of each road segment;

[0051] The current vehicle is controlled to travel on the driving lane at the third limited vehicle speed.

[0052] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0053] Collecting driving data of the current vehicle, wherein the driving data includes a lane in which the current vehicle is traveling in the map data;

[0054] Divide the driving lane into a plurality of road sections, and obtain the speed limit value of the speed limit sign of each road section;

[0055] Generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0056] Calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values;

[0057] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed;

[0058] Acquire a historical driving speed corresponding to each road segment of the driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving speed within a limited vehicle speed range of each road segment;

[0059] The current vehicle is controlled to travel on the driving lane at the third limited vehicle speed.

[0060] The above-mentioned automatic driving speed control method, device, computer equipment and storage medium first set the speed limit value of each road section of the current vehicle in the driving lane as a first limited speed based on the speed limit value of the speed limit sign, and then calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road sections as the speed limit change value, identify the target road section with unreasonable speed limit, cliff-like speed reduction, and fluctuating speed limit according to the speed limit change value, and correct the first limited speed of the target road section to a second limited speed. The second limited speed increases the range of optional speeds. Finally, within the limited speed range of each road section, a third limited speed is generated for each road section based on the historical driving speed. The third limited speed meets the driving habits of most users, and the third limited speed has a smooth transition, so that the speed is stabilized within a reasonable speed limit range, thereby improving driving efficiency, improving the safety of intelligent driving and human driving, and improving comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 This is an application environment diagram of an automatic driving vehicle speed control method in one embodiment of the present application;

[0063] Figure 2 This is a flow chart of a method for controlling the speed of an automatic driving vehicle in one embodiment of the present application;

[0064] Figure 3 A flowchart showing the steps of obtaining a road segment corresponding to the speed limit change value as a target road segment and correcting a first limited vehicle speed of the target road segment to a second limited vehicle speed in response to an absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being a positive and negative opposite value in one embodiment of the present application;

[0065] Figure 4 A schematic diagram of a flow chart of steps for obtaining the historical driving speed corresponding to each road segment of the driving lane in one embodiment of the present application;

[0066] Figure 5 This is a flow chart of the steps of controlling the current vehicle to travel on the driving lane at the third limited vehicle speed in one embodiment of the present application;

[0067] Figure 6 This is a structural block diagram of an automatic driving vehicle speed control device in one embodiment of the present application;

[0068] Figure 7This is a diagram of the internal structure of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0070] The vehicle speed control method provided in this application can be applied to Figure 1 In the application environment shown. Among them, the vehicle end 120 communicates with the cloud server 130 through the network. Among them, the vehicle end 120 is a vehicle-mounted terminal control center installed in the vehicle. The vehicle-mounted terminal control center can collect vehicle data and map data generated by the vehicle bus in real time. The cloud server 130 can be implemented by an independent server or a server cluster composed of multiple servers. The cloud server 104 is used to store driving data and empirical vehicle speed map packages. The cloud server 104 can update and maintain the empirical vehicle speed map package based on real-time conditions. The vehicle end 120 can obtain the empirical vehicle speed map package from the cloud server 130 in real time for navigation.

[0071] In addition, if Figure 1 As shown, a client 110 is also provided, and the client 110 communicates with the vehicle end 120 and the cloud server 130 through a network. The client 110 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, and portable wearable devices, and the client 110 can obtain the experience vehicle speed map package from the vehicle end 120 or the cloud server 130 in real time for navigation.

[0072] In one embodiment, Figure 2 As shown, a vehicle speed control method is provided, which is applied to Figure 1 The cloud server 130 in the example is used as an example to illustrate, including the following steps:

[0073] Step S1, collecting driving data of the current vehicle, wherein the driving data includes the lane in which the current vehicle is traveling in the map data;

[0074] Step S2, dividing the driving lane into a plurality of road segments, and obtaining the speed limit value of the speed limit sign of each road segment;

[0075] Step S3, generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0076] Step S4, calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values;

[0077] Step S5, in response to the absolute value of the speed limit change value being greater than the first threshold or the speed limit change value of the adjacent road segment being an opposite positive value, obtaining the road segment corresponding to the speed limit change value as the target road segment, and correcting the first limited vehicle speed of the target road segment to the second limited vehicle speed;

[0078] Step S6, obtaining a historical driving speed corresponding to each road segment of the driving lane, and generating a third limited speed for each road segment based on the historical driving speed within a limited speed range of each road segment;

[0079] Step S7, controlling the current vehicle to travel on the driving lane at the third limited vehicle speed.

[0080] Among them, firstly, the speed limit value of each road section of the current vehicle in the driving lane is set as the first limited speed based on the speed limit value of the speed limit sign, and then the difference between the speed limit values ​​of the speed limit signs of adjacent road sections is calculated as the speed limit change value, and the target road section with unreasonable speed limit, cliff-like speed reduction, and fluctuating speed limit is identified according to the speed limit change value, and the first limited speed of the target road section is corrected to the second limited speed. The second limited speed increases the range of optional speeds, and finally, within the limited speed range of each road section, the third limited speed is generated for each road section based on the historical driving speed. The third limited speed meets the driving habits of most users, and the third limited speed has a smooth transition, which makes the speed stable within a reasonable speed limit range, improves driving efficiency, improves the safety of intelligent driving and human driving, and improves comfort.

[0081] Preferably, the second limited speed is 1.2 times the first limited speed, which meets the required speed range of the speed limit value on the speed limit sign. By correcting the first limited speed of the target road section to the second limited speed, the range of optional limited speeds for intelligent driving can be widened. Even if there is a cliff-like speed reduction or fluctuating speed limit, a relatively stable limited speed can be selected to form a third limited speed, so that the speed is stable, which improves the safety of intelligent driving and human driving. A stable speed can also improve comfort and enhance user experience.

[0082] The first limited speed is the default speed limit of the driving lane or the speed limit set by the speed limit sign. The second limited speed is preferably 1.2 times the first limited speed to meet the statutory speed limit requirements. In this way, when the speed limit change value is greater than the first threshold, the speed range of the limited speed of the optional driving lane can be widened, and then the second limited speed is selected within the speed range in combination with the habitual driving speed, and the first limited speed of the modified section is replaced by the second limited speed, so that the speed limit change value of each road section is less than or equal to the first threshold, ensuring the overall speed of the driving lane is stable.

[0083] In this embodiment, generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign includes:

[0084] Collecting an image of the current vehicle on the driving lane, and determining whether a speed limit sign is set on the driving lane;

[0085] If no speed limit sign is set on the driving lane, identifying the type of the driving lane and setting a default speed limit value according to the type of the driving lane;

[0086] If a speed limit sign is set on the driving lane, the speed limit value of the speed limit sign is obtained, and the speed limit value on the driving lane is set as the speed limit value of the speed limit sign.

[0087] It can be understood that the first limited speed is the speed limit value of the speed limit sign. If no speed limit sign is set on the driving lane, the first limited speed is the default speed limit value corresponding to the type of the driving lane. A smooth transition method is used to fit between the speed limits of different driving lanes to obtain the corresponding limited speed.

[0088] like Figure 3 As shown, in this embodiment, in response to the absolute value of the speed limit change value being greater than the first threshold or the speed limit change values ​​of the adjacent road segments being opposite values, obtaining the road segment corresponding to the speed limit change value as the target road segment, and correcting the first limited vehicle speed of the target road segment to the second limited vehicle speed includes:

[0089] Step S51, when the absolute value of the speed limit change value is greater than a first threshold, the adjacent road segment with the smallest speed limit value among the adjacent road segments for which the speed limit change value is calculated is taken as the target road segment; when the speed limit change values ​​of the adjacent road segments are opposite in positive and negative values, all the adjacent road segments are taken as the target road segments;

[0090] Step S52, setting a second limited vehicle speed greater than the first limited vehicle speed, and determining whether each road segment is a target road segment; if it is a target road segment, replacing the first limited vehicle speed with the second limited vehicle speed; if it is not a target road segment, maintaining the first limited vehicle speed unchanged.

[0091] It is understandable that when the absolute value of the speed limit change value is greater than the first threshold, the road section corresponding to the speed limit change value is a cliff-like speed reduction road section, so the speed limit of the adjacent road section with the smallest speed limit value among the adjacent road sections for calculating the speed limit change value needs to be increased, and the speed limit of the adjacent road section with the largest speed limit value among the adjacent road sections for calculating the speed limit change value needs to be kept unchanged, so that only the adjacent road section with the smallest speed limit value among the adjacent road sections for calculating the speed limit change value needs to be taken as the target road section, and the first limited vehicle speed of the target road section needs to be corrected to the second limited vehicle speed. For example, a road section with a length of 50 meters and a difference of two consecutive speed limit signs greater than 30 km / h is a cliff-like speed reduction road section.

[0092] When the speed limit change values ​​of adjacent road segments are opposite positive and negative values, it means that the speed limits between adjacent road segments are floating changes, such as the speed limit increases first and then decreases, or the speed limit decreases first and then increases. The speed floating road segment is a road segment where the speed limit drops for a short distance and then increases, or the speed limit increases for a short distance and then drops. If the speed limit drops and then increases, or rises and then drops again when the distance is less than 150 meters, it is an unreasonable speed limit, and the road segment corresponding to the driving lane is determined to be an unreasonable speed limit sign area. For example, when the number of speed limit signs within 1 kilometer is greater than 3, the road segment corresponding to the driving lane is determined to be an unreasonable speed limit sign area.

[0093] like Figure 4 As shown, in this embodiment, obtaining the historical driving speed corresponding to each road segment of the driving lane includes:

[0094] Step S61, collecting vehicle data generated when the vehicle is traveling on the driving lane;

[0095] Step S62, acquiring a driving image corresponding to each road segment of the driving lane from the vehicle data to form first driving data;

[0096] Step S63, encrypting the private image in the first operation data to form second operation data;

[0097] Step S64, performing data cleaning on the second driving data, and obtaining a driving speed range in the second driving data after data cleaning to form a historical driving speed corresponding to each of the road segments.

[0098] Among them, the vehicle data includes vehicle speed, throttle status data, brake status data, intelligent driving status data, speed regulation status data and collection time; the map data includes GPS longitude and latitude, number of lanes, road type, the driving lane where the vehicle is located and collection time; based on the collection time, the driving speed in the vehicle data is associated with the driving lane of the navigation map in the map data to form the historical driving speed of the driving lane.

[0099] Specifically, when encrypting the private image in the first operation data to form the second operation data, the method includes:

[0100] Identify the license plate and the face image in the data of the first trip, and perform coding processing on the license plate and the face image;

[0101] The vehicle identification code is obtained from the vehicle side, and the vehicle side uploads the first line data after coding to the cloud data for storage, and simultaneously performs one-way encryption on the vehicle identification code.

[0102] In this embodiment, by identifying the license plate and facial image in the first line of data, desensitization, regulatory compliance, and privacy avoidance can be further performed to avoid leakage of private information, and the vehicle identification code is one-way encrypted, making it impossible to decrypt the specific vehicle through reverse decoding, thereby improving the confidentiality of information.

[0103] In this embodiment, performing data cleaning on the second line of data includes:

[0104] Identify whether there is duplicate data in the data of the second line, and if there is duplicate data, delete or merge the duplicate data;

[0105] Identify whether there are null / missing data and abnormal value status data in the second line of data;

[0106] When there are null / missing data, fill in the missing data by estimation or interpolation in the data in the second line;

[0107] When abnormal value status data exists, the abnormal value status data is deleted in the second row of data.

[0108] It is understandable that there are qualified data and unqualified data in the data of the second trip, wherein qualified data refers to: continuous data without data loss, vacancy, and abnormal value status data; unqualified data refers to: data with untrustworthy positions, data loss, vacancy, and abnormal value data. The abnormal value data includes abnormal GPS values ​​and abnormal vehicle speed values, and the vehicle speed exceeding 200kmh is an abnormal vehicle speed value. Delete or merge duplicate data records to avoid repeated calculations during analysis. Format the data to ensure data standardization and consistency. By removing unqualified data from the data of the second trip, the efficiency of data analysis can be improved.

[0109] In this embodiment, generating the third limited vehicle speed for each road segment based on the historical driving speed within the limited vehicle speed range of each road segment includes:

[0110] Obtaining the mode of the historical driving speed corresponding to each of the road segments;

[0111] It is determined whether the mode is distributed within the limited speed range of each road segment. If so, the mode is used as the third limited speed of the corresponding road segment. If not, the limited speed value with the smallest difference from the mode within the limited speed range is used as the third limited speed of the corresponding road segment.

[0112] The mode is the value that appears most frequently in a data set. The method for calculating the mode is relatively simple. We only need to count the number of times each value appears in the data and find the value that appears most frequently.

[0113] It is understandable that if there are multiple modes in the corresponding road segment, the mode with the smallest speed change is selected as the third limited speed of the corresponding road segment based on the principle of stable speed.

[0114] In this embodiment, the vehicle speed control method further includes:

[0115] Analyze the third limited vehicle speed of the driving lane, and use the limited vehicle speed value with the smallest difference from the mode within the limited vehicle speed range as the position of the third limited vehicle speed of the corresponding road segment as the speed limit risk point;

[0116] The speed limit risk point is marked in the experience speed map package.

[0117] Among them, if the speed that most users are accustomed to driving is speeding, then the third limit speed of the intelligent driving speed is the limited speed value with the smallest difference from the mode within the limited speed range. The risk of speeding is prone to occur at this position, so using this position as a speed limit risk point can improve the safety of intelligent driving control.

[0118] like Figure 5As shown, in this embodiment, controlling the current vehicle to travel on the driving lane at the third limited vehicle speed includes:

[0119] Step S71, marking the third limited vehicle speed on each road segment of the driving lane in the map data to form an intelligent driving speed map package;

[0120] Step S72: sending the experience vehicle speed map package to the current vehicle, and controlling the current vehicle to travel on the driving lane using the third limited vehicle speed.

[0121] In this embodiment, through intelligent driving takeover data, rule analysis automatically identifies takeover risk scenarios such as on-ramp / off-ramp driving, automatically analyzes takeover risk points and speeds caused by vehicle speed, and performs speed corrections. Automatic identification can cover driving areas across the country. Through perception and user driving behavior data, points and behaviors that affect comfort, safety, efficiency, etc. are automatically mined, and a speed that conforms to the driving habits of most users is assigned. The data update efficiency is high, and the experience speed map package can be updated as quickly as possible without manual review.

[0122] When the vehicle is in intelligent driving mode, user takeover and exit and user longitudinal takeover can be realized. User takeover and exit means: when the user turns on intelligent driving, he / she exits the intelligent driving function by stepping on the brakes because he / she is not satisfied with the current vehicle speed. User longitudinal takeover means: when the user turns on intelligent driving, he / she temporarily takes over the intelligent driving function by stepping on the accelerator because he / she is not satisfied with the current vehicle speed.

[0123] In the above-mentioned automatic driving speed control method, the speed limit value of each road section in the lane where the current vehicle is traveling is first set as a first limited speed based on the speed limit value on the speed limit sign, and then the difference between the speed limit values ​​on the speed limit signs of adjacent road sections is calculated as the speed limit change value, and the target road section with unreasonable speed limit, cliff-like speed reduction, and fluctuating speed limit is identified according to the speed limit change value, and the first limited speed of the target road section is corrected to a second limited speed, and the second limited speed increases the range of optional speeds. Finally, within the limited speed range of each road section, a third limited speed is generated for each road section based on the historical driving speed, and the third limited speed meets the driving habits of most users, and the third limited speed has a smooth transition, which stabilizes the speed within a reasonable speed limit range, improves driving efficiency, improves the safety of intelligent driving and human driving, and improves comfort.

[0124] It should be understood that although Figure 2-Figure 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2-Figure 5At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0125] In one embodiment, Figure 6 As shown, an automatic driving vehicle speed control device 10 is provided, including: a driving data collection module 1, a speed limit value acquisition module 2, an initial speed limit acquisition module 3, a road section speed limit change judgment module 4, a road section speed limit correction module 5, an intelligent driving speed selection module 6 and an intelligent driving speed control module 7.

[0126] The driving data collection module 1 is used to collect driving data of the current vehicle, and the driving data includes the lane that the current vehicle is traveling in the map data.

[0127] The speed limit sign speed limit value acquisition module 2 is used to divide the driving lane into multiple road sections and obtain the speed limit sign speed limit value of each road section.

[0128] The initial speed limit acquisition module 3 is used to generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign.

[0129] The road segment speed limit change judgment module 4 is used to calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, and judge whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of adjacent road segments are opposite positive and negative values.

[0130] The road segment speed limit correction module 5 is used for obtaining the road segment corresponding to the speed limit change value as the target road segment in response to the absolute value of the speed limit change value being greater than the first threshold or the speed limit change value of the adjacent road segment being an opposite positive and negative value, and correcting the first limited vehicle speed of the target road segment to the second limited vehicle speed.

[0131] The intelligent driving speed selection module 6 is used to obtain the historical driving speed corresponding to each road segment of the driving lane, and generate a third limited speed for each road segment based on the historical driving speed within the limited speed range of each road segment.

[0132] The intelligent driving speed control module 7 is used to control the current vehicle to travel at the third limited speed on the driving lane.

[0133] In this embodiment, generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign includes:

[0134] Collecting an image of the current vehicle on the driving lane, and determining whether a speed limit sign is set on the driving lane;

[0135] If no speed limit sign is set on the driving lane, identifying the type of the driving lane and setting a default speed limit value according to the type of the driving lane;

[0136] If a speed limit sign is set on the driving lane, the speed limit value of the speed limit sign is obtained, and the speed limit value on the driving lane is set as the speed limit value of the speed limit sign.

[0137] In this embodiment, in response to the absolute value of the speed limit change value being greater than the first threshold or the speed limit change values ​​of the adjacent road segments being opposite values, obtaining the road segment corresponding to the speed limit change value as the target road segment, and correcting the first limited vehicle speed of the target road segment to the second limited vehicle speed includes:

[0138] When the absolute value of the speed limit change value is greater than a first threshold, taking the adjacent road segment with the smallest speed limit value on the speed limit sign among the adjacent road segments for calculating the speed limit change value as the target road segment;

[0139] When the speed limit change values ​​of the adjacent road segments are opposite in positive and negative values, the adjacent road segments are all used as target road segments;

[0140] The second limited vehicle speed is set to be greater than the first limited vehicle speed, and whether each road segment is a target road segment is determined; if it is a target road segment, the first limited vehicle speed is replaced by the second limited vehicle speed; if it is not a target road segment, the first limited vehicle speed is maintained unchanged.

[0141] In this embodiment, obtaining the historical driving speed corresponding to each road segment of the driving lane includes:

[0142] Collecting vehicle data generated when the vehicle is traveling on the driving lane;

[0143] Acquire a driving image corresponding to each road segment of the driving lane from the vehicle data to form first driving data;

[0144] encrypting the private image in the first operation data to form second operation data;

[0145] The second driving data is cleaned, and a driving speed range in the second driving data after data cleaning is obtained to form a historical driving speed corresponding to each of the road segments.

[0146] In this embodiment, performing data cleaning on the second line of data includes:

[0147] Identify whether there is duplicate data in the data of the second line, and if there is duplicate data, delete or merge the duplicate data;

[0148] Identify whether there are null / missing data and abnormal value status data in the second line of data;

[0149] When there are null / missing data, fill in the missing data by estimation or interpolation in the data in the second line;

[0150] When abnormal value status data exists, the abnormal value status data is deleted in the second row of data.

[0151] In this embodiment, generating the third limited vehicle speed for each road segment based on the historical driving speed within the limited vehicle speed range of each road segment includes:

[0152] Obtaining the mode of the historical driving speed corresponding to each of the road segments;

[0153] It is determined whether the mode is distributed within the limited speed range of each road segment. If so, the mode is used as the third limited speed of the corresponding road segment. If not, the limited speed value with the smallest difference from the mode within the limited speed range is used as the third limited speed of the corresponding road segment.

[0154] In this embodiment, controlling the current vehicle to travel on the driving lane at the third limited vehicle speed includes:

[0155] Marking the third limited vehicle speed on each road segment of the driving lane in the map data to form an intelligent driving speed map package;

[0156] The experienced vehicle speed map package is sent to the current vehicle, and the third limited vehicle speed is used to control the current vehicle to travel on the driving lane.

[0157] In the above-mentioned automatic driving speed control device, the speed limit value of each road section in the lane where the current vehicle is traveling is first set as the first limited speed based on the speed limit value on the speed limit sign, and then the difference between the speed limit values ​​on the speed limit signs of adjacent road sections is calculated as the speed limit change value, and the target road section with unreasonable speed limit, cliff-like speed reduction, and fluctuating speed limit is identified according to the speed limit change value, and the first limited speed of the target road section is corrected to the second limited speed. The second limited speed increases the range of optional speeds, and finally, within the limited speed range of each road section, the third limited speed is generated for each road section based on the historical driving speed. The third limited speed meets the driving habits of most users, and the third limited speed has a smooth transition, which makes the speed stable within a reasonable speed limit range, improves driving efficiency, improves the safety of intelligent driving and human driving, and improves comfort.

[0158] For the specific definition of the automatic driving vehicle speed control device, please refer to the definition of the automatic driving vehicle speed control method above, which will not be repeated here. Each module in the above-mentioned automatic driving vehicle speed control device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0159] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0160] Collecting driving data of the current vehicle, wherein the driving data includes a lane in which the current vehicle is traveling in the map data;

[0161] Divide the driving lane into a plurality of road sections, and obtain the speed limit value of the speed limit sign of each road section;

[0162] Generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0163] Calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values;

[0164] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed;

[0165] Acquire a historical driving speed corresponding to each road segment of the driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving speed within a limited vehicle speed range of each road segment;

[0166] The current vehicle is controlled to travel on the driving lane at the third limited vehicle speed.

[0167] In one embodiment, the computer program further implements the following steps when executed by a processor:

[0168] The step of generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign includes:

[0169] Collecting an image of the current vehicle on the driving lane, and determining whether a speed limit sign is set on the driving lane;

[0170] If no speed limit sign is set on the driving lane, identifying the type of the driving lane and setting a default speed limit value according to the type of the driving lane;

[0171] If a speed limit sign is set on the driving lane, the speed limit value of the speed limit sign is obtained, and the speed limit value on the driving lane is set as the speed limit value of the speed limit sign.

[0172] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0173] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of the adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed includes:

[0174] When the absolute value of the speed limit change value is greater than a first threshold, taking the adjacent road segment with the smallest speed limit value on the speed limit sign among the adjacent road segments for calculating the speed limit change value as the target road segment;

[0175] When the speed limit change values ​​of the adjacent road segments are opposite in positive and negative values, the adjacent road segments are all used as target road segments;

[0176] The second limited vehicle speed is set to be greater than the first limited vehicle speed, and whether each road segment is a target road segment is determined; if it is a target road segment, the first limited vehicle speed is replaced by the second limited vehicle speed; if it is not a target road segment, the first limited vehicle speed is maintained unchanged.

[0177] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0178] The step of obtaining the historical driving speed corresponding to each road segment of the driving lane comprises:

[0179] Collecting vehicle data generated when the vehicle is traveling on the driving lane;

[0180] Acquire a driving image corresponding to each road segment of the driving lane from the vehicle data to form first driving data;

[0181] encrypting the private image in the first operation data to form second operation data;

[0182] The second driving data is cleaned, and a driving speed range in the second driving data after data cleaning is obtained to form a historical driving speed corresponding to each of the road segments.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0184] The performing data cleaning on the second line of data comprises:

[0185] Identify whether there is duplicate data in the data of the second line, and if there is duplicate data, delete or merge the duplicate data;

[0186] Identify whether there are null / missing data and abnormal value status data in the second line of data;

[0187] When there are null / missing data, fill in the missing data by estimation or interpolation in the data in the second line;

[0188] When abnormal value status data exists, the abnormal value status data is deleted in the second row of data.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0190] Generating the third limited vehicle speed for each road segment based on the historical driving speed within the limited vehicle speed range of each road segment comprises:

[0191] Obtaining the mode of the historical driving speed corresponding to each of the road segments;

[0192] It is determined whether the mode is distributed within the limited speed range of each road segment. If so, the mode is used as the third limited speed of the corresponding road segment. If not, the limited speed value with the smallest difference from the mode within the limited speed range is used as the third limited speed of the corresponding road segment.

[0193] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0194] The controlling the current vehicle to travel on the driving lane at the third limited vehicle speed comprises:

[0195] Marking the third limited vehicle speed on each road segment of the driving lane in the map data to form an intelligent driving speed map package;

[0196] The experienced vehicle speed map package is sent to the current vehicle, and the third limited vehicle speed is used to control the current vehicle to travel on the driving lane.

[0197] For the specific limitations on the steps implemented when the computer program is executed by the processor, please refer to the limitations on the method of automatic driving vehicle speed control above, which will not be repeated here.

[0198] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store automatic driving vehicle speed control data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an automatic driving vehicle speed control method is implemented.

[0199] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0200] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0201] Collecting driving data of the current vehicle, wherein the driving data includes a lane in which the current vehicle is traveling in the map data;

[0202] Divide the driving lane into a plurality of road sections, and obtain the speed limit value of the speed limit sign of each road section;

[0203] Generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0204] Calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values;

[0205] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed;

[0206] Acquire a historical driving speed corresponding to each road segment of the driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving speed within a limited vehicle speed range of each road segment;

[0207] The current vehicle is controlled to travel on the driving lane at the third limited vehicle speed.

[0208] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0209] The step of generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign includes:

[0210] Collecting an image of the current vehicle on the driving lane, and determining whether a speed limit sign is set on the driving lane;

[0211] If no speed limit sign is set on the driving lane, identifying the type of the driving lane and setting a default speed limit value according to the type of the driving lane;

[0212] If a speed limit sign is set on the driving lane, the speed limit value of the speed limit sign is obtained, and the speed limit value on the driving lane is set as the speed limit value of the speed limit sign.

[0213] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0214] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of the adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed includes:

[0215] When the absolute value of the speed limit change value is greater than a first threshold, taking the adjacent road segment with the smallest speed limit value on the speed limit sign among the adjacent road segments for calculating the speed limit change value as the target road segment;

[0216] When the speed limit change values ​​of the adjacent road segments are opposite in positive and negative values, the adjacent road segments are all used as target road segments;

[0217] The second limited vehicle speed is set to be greater than the first limited vehicle speed, and whether each road segment is a target road segment is determined; if it is a target road segment, the first limited vehicle speed is replaced by the second limited vehicle speed; if it is not a target road segment, the first limited vehicle speed is maintained unchanged.

[0218] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0219] The step of obtaining the historical driving speed corresponding to each road segment of the driving lane comprises:

[0220] Collecting vehicle data generated when the vehicle is traveling on the driving lane;

[0221] Acquire a driving image corresponding to each road segment of the driving lane from the vehicle data to form first driving data;

[0222] encrypting the private image in the first operation data to form second operation data;

[0223] The second driving data is cleaned, and a driving speed range in the second driving data after data cleaning is obtained to form a historical driving speed corresponding to each of the road segments.

[0224] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0225] The performing data cleaning on the second line of data comprises:

[0226] Identify whether there is duplicate data in the data of the second line, and if there is duplicate data, delete or merge the duplicate data;

[0227] Identify whether there are null / missing data and abnormal value status data in the second line of data;

[0228] When there are null / missing data, fill in the missing data by estimation or interpolation in the data in the second line;

[0229] When abnormal value status data exists, the abnormal value status data is deleted in the second row of data.

[0230] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0231] Generating the third limited vehicle speed for each road segment based on the historical driving speed within the limited vehicle speed range of each road segment comprises:

[0232] Obtaining the mode of the historical driving speed corresponding to each of the road segments;

[0233] It is determined whether the mode is distributed within the limited speed range of each road segment. If so, the mode is used as the third limited speed of the corresponding road segment. If not, the limited speed value with the smallest difference from the mode within the limited speed range is used as the third limited speed of the corresponding road segment.

[0234] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0235] The controlling the current vehicle to travel on the driving lane at the third limited vehicle speed comprises:

[0236] Marking the third limited vehicle speed on each road segment of the driving lane in the map data to form an intelligent driving speed map package;

[0237] The experienced vehicle speed map package is sent to the current vehicle, and the third limited vehicle speed is used to control the current vehicle to travel on the driving lane.

[0238] For the specific limitations on the steps implemented when the processor executes a computer program, please refer to the limitations on the method of automatic driving vehicle speed control mentioned above, which will not be repeated here.

[0239] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0240] Collecting driving data of the current vehicle, wherein the driving data includes a lane in which the current vehicle is traveling in the map data;

[0241] Divide the driving lane into a plurality of road sections, and obtain the speed limit value of the speed limit sign of each road section;

[0242] Generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign;

[0243] Calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values;

[0244] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed;

[0245] Acquire a historical driving speed corresponding to each road segment of the driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving speed within a limited vehicle speed range of each road segment;

[0246] The current vehicle is controlled to travel on the driving lane at the third limited vehicle speed.

[0247] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0248] The step of generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign includes:

[0249] Collecting an image of the current vehicle on the driving lane, and determining whether a speed limit sign is set on the driving lane;

[0250] If no speed limit sign is set on the driving lane, identifying the type of the driving lane and setting a default speed limit value according to the type of the driving lane;

[0251] If a speed limit sign is set on the driving lane, the speed limit value of the speed limit sign is obtained, and the speed limit value on the driving lane is set as the speed limit value of the speed limit sign.

[0252] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0253] In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of the adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed includes:

[0254] When the absolute value of the speed limit change value is greater than a first threshold, taking the adjacent road segment with the smallest speed limit value on the speed limit sign among the adjacent road segments for calculating the speed limit change value as the target road segment;

[0255] When the speed limit change values ​​of the adjacent road segments are opposite in positive and negative values, the adjacent road segments are all used as target road segments;

[0256] The second limited vehicle speed is set to be greater than the first limited vehicle speed, and whether each road segment is a target road segment is determined; if it is a target road segment, the first limited vehicle speed is replaced by the second limited vehicle speed; if it is not a target road segment, the first limited vehicle speed is maintained unchanged.

[0257] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0258] The step of obtaining the historical driving speed corresponding to each road segment of the driving lane comprises:

[0259] Collecting vehicle data generated when the vehicle is traveling on the driving lane;

[0260] Acquire a driving image corresponding to each road segment of the driving lane from the vehicle data to form first driving data;

[0261] encrypting the private image in the first operation data to form second operation data;

[0262] The second driving data is cleaned, and a driving speed range in the second driving data after data cleaning is obtained to form a historical driving speed corresponding to each of the road segments.

[0263] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0264] The performing data cleaning on the second line of data comprises:

[0265] Identify whether there is duplicate data in the data of the second line, and if there is duplicate data, delete or merge the duplicate data;

[0266] Identify whether there are null / missing data and abnormal value status data in the second line of data;

[0267] When there are null / missing data, fill in the missing data by estimation or interpolation in the data in the second line;

[0268] When abnormal value status data exists, the abnormal value status data is deleted in the second row of data.

[0269] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0270] Generating the third limited vehicle speed for each road segment based on the historical driving speed within the limited vehicle speed range of each road segment comprises:

[0271] Obtaining the mode of the historical driving speed corresponding to each of the road segments;

[0272] It is determined whether the mode is distributed within the limited speed range of each road segment. If so, the mode is used as the third limited speed of the corresponding road segment. If not, the limited speed value with the smallest difference from the mode within the limited speed range is used as the third limited speed of the corresponding road segment.

[0273] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0274] The controlling the current vehicle to travel on the driving lane at the third limited vehicle speed comprises:

[0275] Marking the third limited vehicle speed on each road segment of the driving lane in the map data to form an intelligent driving speed map package;

[0276] The experienced vehicle speed map package is sent to the current vehicle, and the third limited vehicle speed is used to control the current vehicle to travel on the driving lane.

[0277] For the specific limitations on the steps implemented when the computer program is executed by the processor, please refer to the limitations on the method of automatic driving vehicle speed control above, which will not be repeated here.

[0278] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0279] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0280] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for controlling the speed of an automatic driving vehicle, characterized in that: include: Collecting driving data of the current vehicle, wherein the driving data includes a lane in which the current vehicle is traveling in the map data; Divide the driving lane into a plurality of road sections, and obtain the speed limit value of the speed limit sign of each road section; Generate a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign; Calculating the difference between the speed limit values ​​of the speed limit signs of the adjacent road segments as the speed limit change value, and determining whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of the adjacent road segments are opposite values; In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed; Acquire a historical driving speed corresponding to each road segment of the driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving speed within a limited vehicle speed range of each road segment; The current vehicle is controlled to travel on the driving lane at the third limited vehicle speed.

2. The automatic driving vehicle speed control method according to claim 1, characterized in that: The step of generating a first limited vehicle speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign includes: Collecting an image of the current vehicle on the driving lane, and determining whether a speed limit sign is set on the driving lane; If no speed limit sign is set on the driving lane, identifying the type of the driving lane and setting a default speed limit value according to the type of the driving lane; If a speed limit sign is set on the driving lane, the speed limit value of the speed limit sign is obtained, and the speed limit value on the driving lane is set as the speed limit value of the speed limit sign.

3. The automatic driving vehicle speed control method according to claim 1, characterized in that: In response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change value of the adjacent road segment being an opposite positive value, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited vehicle speed of the target road segment to a second limited vehicle speed includes: When the absolute value of the speed limit change value is greater than a first threshold, taking the adjacent road segment with the smallest speed limit value on the speed limit sign among the adjacent road segments for calculating the speed limit change value as the target road segment; When the speed limit change values ​​of the adjacent road segments are opposite in positive and negative values, the adjacent road segments are all used as target road segments; The second limited vehicle speed is set to be greater than the first limited vehicle speed, and whether each road segment is a target road segment is determined; if it is a target road segment, the first limited vehicle speed is replaced by the second limited vehicle speed; if it is not a target road segment, the first limited vehicle speed is maintained unchanged.

4. The automatic driving vehicle speed control method according to claim 1, characterized in that: The step of obtaining the historical driving speed corresponding to each road segment of the driving lane comprises: Collecting vehicle data generated when the vehicle is traveling on the driving lane; Acquire a driving image corresponding to each road segment of the driving lane from the vehicle data to form first driving data; encrypting the private image in the first operation data to form second operation data; The second driving data is cleaned, and a driving speed range in the second driving data after data cleaning is obtained to form a historical driving speed corresponding to each of the road segments.

5. The automatic driving vehicle speed control method according to claim 1, characterized in that: The performing data cleaning on the second line of data comprises: Identify whether there is duplicate data in the data of the second line, and if there is duplicate data, delete or merge the duplicate data; Identify whether there are null / missing data and abnormal value status data in the second line of data; When there are null / missing data, fill in the missing data by estimation or interpolation in the data in the second line; When abnormal value status data exists, the abnormal value status data is deleted in the second row of data.

6. The automatic driving vehicle speed control method according to claim 1, characterized in that: Generating the third limited vehicle speed for each road segment based on the historical driving speed within the limited vehicle speed range of each road segment comprises: Obtaining the mode of the historical driving speed corresponding to each of the road segments; It is determined whether the mode is distributed within the limited speed range of each road segment. If so, the mode is used as the third limited speed of the corresponding road segment. If not, the limited speed value with the smallest difference from the mode within the limited speed range is used as the third limited speed of the corresponding road segment.

7. The automatic driving vehicle speed control method according to claim 1, characterized in that: The controlling the current vehicle to travel on the driving lane at the third limited vehicle speed comprises: Marking the third limited vehicle speed on each road segment of the driving lane in the map data to form an intelligent driving speed map package; The experienced vehicle speed map package is sent to the current vehicle, and the third limited vehicle speed is used to control the current vehicle to travel on the driving lane.

8. An automatic driving vehicle speed control device, characterized in that: The device comprises: A driving data collection module is used to collect driving data of the current vehicle, wherein the driving data includes the lane in which the current vehicle is traveling in the map data; A speed limit sign speed limit value acquisition module is used to divide the driving lane into multiple road sections and obtain the speed limit sign speed limit value of each road section; An initial speed limit acquisition module, used to generate a first limited speed for controlling the current vehicle to pass through the driving lane according to the speed limit value on the speed limit sign; a road segment speed limit change judgment module, used to calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, and judge whether the absolute value of the speed limit change value is greater than a first threshold, and / or whether the speed limit change values ​​of adjacent road segments are opposite values; a road segment speed limit correction module, configured to, in response to the absolute value of the speed limit change value being greater than a first threshold or the speed limit change values ​​of adjacent road segments being opposite in positive and negative values, obtain a road segment corresponding to the speed limit change value as a target road segment, and correct the first limited vehicle speed of the target road segment to a second limited vehicle speed; An intelligent driving speed selection module is used to obtain the historical driving speed corresponding to each road segment of the driving lane, and generate a third limited speed for each road segment based on the historical driving speed within the limited speed range of each road segment; The intelligent driving speed control module is used to control the current vehicle to travel at the third limited speed on the driving lane.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images