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

Abstract

The application 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. First, the speed limit value of a current vehicle in each road section of a driving lane is set as a first limited speed based on the speed limit value of a speed limit sign; then, a difference value of the speed limit value of adjacent road sections is calculated as a speed limit change value; unreasonable speed limit, cliff-type speed reduction and undulating speed limit target road sections are identified according to the speed limit change value; the first limited speed of the target road sections is corrected as a second limited speed; the second limited speed increases the range of selectable vehicle speed; finally, a third limited speed of each road section is generated based on historical driving speed within the limited speed range of each road section; the third limited speed conforms to the driving habits of most users; the third limited speed is smoothly transitioned; the vehicle speed is smoothly transitioned within the reasonable speed limit range; the driving efficiency is improved; the safety of intelligent driving and human driving is improved; and the comfort is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to an autonomous driving vehicle speed control method, device, computer equipment, and storage medium. Background Technology

[0002] In intelligent driving functions, the intelligent driving data collection function gathers driving behavior and data from both the intelligent driving system and the user. This data is uploaded from the vehicle to the cloud, where it undergoes big data cleaning, extraction, analysis, and storage to calculate the vehicle speed range, which is then distributed back to the vehicle for user use. However, current intelligent driving speeds are based on road speed limit signs. With increased road infrastructure and subsequent road changes, the number of speed limit signs has increased, leading to inconsistencies in speed limits over short distances. This results in unreasonable speed limits, abrupt speed reductions, and fluctuating speed limits, causing the recommended speeds to be inconsistent and affecting vehicle stability. This fails to meet users' demands for high comfort, safety, efficiency, and personalized driving. Furthermore, updating the speed data to reflect these inconsistencies is slow and requires extensive manual review, negatively impacting the user experience. Summary of the Invention

[0003] Based on this, an autonomous driving speed control method, device, computer equipment, and storage medium are provided to solve the technical problem that the recommended speed for intelligent driving has unreasonable speed limits, abrupt speed reductions, and fluctuating speed limits, resulting in unreasonable driving speeds, affecting speed stability, and failing to meet users' needs for high comfort, high safety, high efficiency, and personalized driving.

[0004] On the one hand, an autonomous driving speed control method is provided, the method comprising:

[0005] Collect driving data of the current vehicle, including the lane the current vehicle is traveling in in the map data;

[0006] The driving lane is divided into multiple road segments, and the speed limit value of the speed limit sign for each road segment is obtained;

[0007] A first speed limit is generated based on the speed limit value of the speed limit sign to control the current vehicle's speed when passing through the driving lane;

[0008] Calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, determine 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 positive and negative opposite values;

[0009] In response to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, the road segment corresponding to the speed limit change is obtained as the target road segment, and the first speed limit of the target road segment is corrected to the second speed limit.

[0010] 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;

[0011] Control the current vehicle to travel at the third limited speed in the driving lane.

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

[0013] Collect images of the current vehicle in the driving lane and determine whether a speed limit sign is set up in the driving lane;

[0014] If no speed limit sign is set on the driving lane, the type of the driving lane is identified, and a default speed limit value is set 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, the step of responding to the absolute value of the speed limit change being greater than a first threshold or the speed limit change value of an adjacent road segment being a positive or negative opposite value, obtaining the road segment corresponding to the speed limit change value as a target road segment, and correcting the first speed limit of the target road segment to a second speed limit includes:

[0017] When the absolute value of the speed limit change value is greater than the 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 will be taken as the target road segment.

[0018] When the speed limit change values ​​of adjacent road segments are opposite in both positive and negative, both adjacent road segments will be regarded as target road segments.

[0019] Set a second speed limit that is greater than the first speed limit, and determine whether each road segment is a target road segment. If it is a target road segment, replace the first speed limit with the second speed limit. If it is not a target road segment, keep the first speed limit unchanged.

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

[0021] Collect vehicle data generated when a vehicle is traveling in the driving lane;

[0022] The driving image corresponding to each road segment of the driving lane is obtained from the vehicle data to form the first driving data;

[0023] The privacy images in the first driving data are encrypted to form the second driving data;

[0024] The second driving data is cleaned to obtain the driving speed range in the cleaned second driving data, which forms the historical driving speed corresponding to each road segment.

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

[0026] Identify whether there is duplicate data in the second driving data; if duplicate data is found, delete or merge the duplicate data.

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

[0028] When there are null values / missing data, the missing data is filled in the second driving data by estimation or interpolation.

[0029] When abnormal value status data exists, the abnormal value status data is deleted from the second driving data.

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

[0031] For each road segment, obtain the mode of the historical driving speed;

[0032] Determine whether the mode is distributed within the speed limit range of each road segment. If so, use the mode as the third speed limit for the corresponding road segment. Otherwise, use the speed limit value with the smallest difference from the mode within the speed limit range as the third speed limit for the corresponding road segment.

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

[0034] The third speed limit is marked on each road segment of the driving lane in the map data to form an empirical speed map package;

[0035] The experience speed map package is sent to the current vehicle, and the third speed limit is used to control the current vehicle to travel in the driving lane.

[0036] On the other hand, an autonomous driving vehicle speed control device is provided, the device comprising:

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

[0038] The speed limit sign speed limit value acquisition module is used to divide the driving lane into multiple road segments and acquire the speed limit value of the speed limit sign for each road segment.

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

[0040] The road segment speed limit change judgment module 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 to determine 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 positive and negative opposite values.

[0041] The road segment speed limit correction module is used to respond 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 a positive or negative opposite value, to obtain the road segment corresponding to the speed limit change value as a target road segment, and to correct the first limited speed of the target road segment to a second limited speed.

[0042] The 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 in the driving lane.

[0044] In another aspect, 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 executes the computer program to perform the following steps:

[0045] Collect driving data of the current vehicle, including the lane the current vehicle is traveling in in the map data;

[0046] The driving lane is divided into multiple road segments, and the speed limit value of the speed limit sign for each road segment is obtained;

[0047] A first speed limit is generated based on the speed limit value of the speed limit sign to control the current vehicle's speed when passing through the driving lane;

[0048] Calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, determine 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 positive and negative opposite values;

[0049] In response to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, the road segment corresponding to the speed limit change is obtained as the target road segment, and the first speed limit of the target road segment is corrected to the second speed limit.

[0050] 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;

[0051] Control the current vehicle to travel at the third limited speed in the driving lane.

[0052] In another aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0053] Collect driving data of the current vehicle, including the lane the current vehicle is traveling in in the map data;

[0054] The driving lane is divided into multiple road segments, and the speed limit value of the speed limit sign for each road segment is obtained;

[0055] A first speed limit is generated based on the speed limit value of the speed limit sign to control the current vehicle's speed when passing through the driving lane;

[0056] Calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, determine 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 positive and negative opposite values;

[0057] In response to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, the road segment corresponding to the speed limit change is obtained as the target road segment, and the first speed limit of the target road segment is corrected to the second speed limit.

[0058] 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;

[0059] Control the current vehicle to travel at the third limited speed in the driving lane.

[0060] The aforementioned autonomous driving speed control method, device, computer equipment, and storage medium first set a first limited speed based on the speed limit values ​​of speed limit signs for each road segment in the current vehicle's driving lane. Then, it calculates the difference between the speed limit values ​​of adjacent road segments as a speed limit change value. Based on this change value, it identifies target road segments with unreasonable speed limits, abrupt speed reductions, or fluctuating speed limits, and corrects the first limited speed of these target road segments to a second limited speed. The second limited speed increases the range of selectable speeds. Finally, within the limited speed range of each road segment, a third limited speed is generated for each road segment based on historical driving speeds. This third limited speed conforms to the driving habits of most users and ensures a smooth transition, maintaining a stable speed within a reasonable speed limit range, improving driving efficiency, enhancing the safety of both intelligent and human driving, and increasing comfort. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a diagram illustrating the application environment of an autonomous driving speed control method in one embodiment of this application.

[0063] Figure 2 This is a flowchart illustrating an autonomous driving speed control method in one embodiment of this application;

[0064] Figure 3 This is a flowchart illustrating the steps of obtaining the road segment corresponding to the speed limit change value as the target road segment and correcting the first speed limit of the target road segment to the second speed limit 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 a positive or negative opposite value in one embodiment of this application.

[0065] Figure 4 This is a flowchart illustrating the steps for obtaining the historical driving speed corresponding to each road segment of the driving lane in one embodiment of this application;

[0066] Figure 5 This is a flowchart illustrating the steps of controlling the current vehicle to travel at the third limited speed in the driving lane in one embodiment of this application;

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

[0068] Figure 7This is an internal structural diagram of a computer device in one embodiment of this application. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

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

[0071] In addition, such as Figure 1 As shown, a client 110 is also provided, which communicates with the vehicle terminal 120 and the cloud server 130 via a network. The client 110 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. The client 110 can obtain real-time experience speed map packages from the vehicle terminal 120 or the cloud server 130 for navigation.

[0072] In one embodiment, such as Figure 2 As shown, a vehicle speed control method is provided, which is applied to... Figure 1 Taking cloud server 130 as an example, the explanation includes the following steps:

[0073] Step S1: Collect the driving data of the current vehicle, including the lane in which the current vehicle is traveling in the map data;

[0074] Step S2: Divide the driving lane into multiple road segments and obtain the speed limit value of the speed limit sign for each road segment;

[0075] Step S3: Generate a first limited speed for controlling the current vehicle to pass through the driving lane based on the speed limit value of the speed limit sign;

[0076] Step S4: Calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, and determine whether the absolute value of the speed limit change value is greater than the first threshold, and / or whether the speed limit change values ​​of adjacent road segments are positive and negative 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 a positive or negative opposite value, the road segment corresponding to the speed limit change value is obtained as the target road segment, and the first limited speed of the target road segment is corrected to the second limited speed.

[0078] Step S6: 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;

[0079] Step S7: Control the current vehicle to travel at the third limited speed in the driving lane.

[0080] The process involves several steps. First, a first speed limit is set for each road segment within the current vehicle's driving lane based on the speed limit values ​​displayed on speed signs. Then, the difference between the speed limit values ​​of adjacent road segments is calculated as the speed limit change value. Based on this change value, target road segments with unreasonable speed limits, abrupt speed reductions, or fluctuating speed limits are identified. The first speed limit for these target road segments is then adjusted to a second speed limit, which expands the range of selectable speeds. Finally, a third speed limit is generated for each road segment based on historical driving speeds within the speed limit range. This third speed limit aligns with the driving habits of most users and ensures a smooth transition within the reasonable speed limit range, improving driving efficiency, enhancing the safety of intelligent and human driving, and increasing comfort.

[0081] Preferably, the second limited speed is 1.2 times the first limited speed, which meets the speed limit requirements of the speed limit sign. By modifying the first limited speed of the target road segment to the second limited speed, the range of selectable limited speeds for intelligent driving can be widened. Thus, even in the presence of abrupt speed reductions or fluctuating speed limits, a relatively stable limited speed can be selected to form the third limited speed, making the speed stable and improving the safety of intelligent driving and human driving. Stable speed also improves comfort and enhances the user experience.

[0082] The first speed limit is the default speed limit of the driving lane or the speed limit shown on the speed limit sign. Preferably, the second speed limit is 1.2 times the first speed limit to meet legal speed limit requirements. This widens the range of speed limits for selectable driving lanes when the speed limit change exceeds the first threshold. Combined with the driver's habitual driving speed, the second speed limit is selected within this range, replacing the first speed limit of the modified road segment. This ensures that the speed limit change for each road segment is less than or equal to the first threshold, guaranteeing a stable overall speed for vehicles passing through the driving lanes.

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

[0084] Collect images of the current vehicle in the driving lane and determine whether a speed limit sign is set up in the driving lane;

[0085] If no speed limit sign is set on the driving lane, the type of the driving lane is identified, and a default speed limit value is set 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] Understandably, the first speed limit is the speed limit value of the speed limit sign. If there is no speed limit sign on the driving lane, the first speed limit is the default speed limit value corresponding to the type of driving lane. The corresponding speed limit is obtained by fitting a smooth transition method between the speed limits of different driving lanes.

[0088] like Figure 3 As shown, in this embodiment, the step of responding to the absolute value of the speed limit change being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive or negative value, obtaining the road segment corresponding to the speed limit change value as the target road segment, and correcting the first speed limit of the target road segment to the second speed limit includes:

[0089] Step S51: When the absolute value of the speed limit change value is greater than the 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 adjacent road segments are opposite values, both adjacent road segments are taken as target road segments.

[0090] Step S52: Set the second speed limit to be greater than the first speed limit, and determine whether each road segment is a target road segment; if it is a target road segment, replace the first speed limit with the second speed limit; if it is not a target road segment, keep the first speed limit unchanged.

[0091] Understandably, when the absolute value of the speed limit change is greater than the first threshold, the road segment corresponding to the speed limit change is a precipitous speed reduction road segment. Therefore, it is necessary to increase the speed limit of the adjacent road segment with the smallest speed limit value among the adjacent road segments where the speed limit change is calculated, while keeping the speed limit of the adjacent road segment with the largest speed limit value unchanged. Thus, it is only necessary to take the adjacent road segment with the smallest speed limit value among the adjacent road segments where the speed limit change is calculated as the target road segment, and correct the first speed limit of the target road segment to the second speed limit. For example, a road segment with a length of 50 meters where the difference between two consecutive speed limit signs is greater than 30 km / h is a precipitous speed reduction road segment.

[0092] When the speed limit changes of adjacent road segments are opposite in value (positive or negative), it indicates that the speed limit between the adjacent road segments is fluctuating, such as the speed limit first increasing and then decreasing, or the speed limit first decreasing and then increasing. Road segments with fluctuating speeds are those where the speed limit briefly decreases and then increases, or vice versa. If there are consecutive decreases followed by increases or increases within a distance of less than 150 meters, the speed limit is considered unreasonable, and the road segment corresponding to the driving lane is determined to be an area with unreasonable speed limit signs. Similarly, if there are more than three speed limit signs within 1 kilometer, the road segment corresponding to the driving lane is determined to be an area with unreasonable speed limit signs.

[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: Collect vehicle data generated when the vehicle is traveling in the driving lane;

[0095] Step S62: Obtain driving images of each road segment corresponding to the driving lane from the vehicle data to form first driving data;

[0096] Step S63: Encrypt the privacy image in the first driving data to form the second driving data;

[0097] Step S64: Clean the second driving data and obtain the driving speed range in the cleaned second driving data to form the historical driving speed corresponding to each road segment.

[0098] The vehicle data includes vehicle speed, throttle status data, brake status data, intelligent driving status data, speed adjustment status data, and collection time; the map data includes GPS latitude and longitude, 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 in the navigation map in the map data to form the historical driving speed of the driving lane.

[0099] Specifically, when encrypting the privacy image in the first driving data to form the second driving data, the process includes:

[0100] Identify the license plate and face image in the first driving data, and perform a masking process on the license plate and face image;

[0101] The vehicle identification number (VIN) is obtained from the vehicle. The vehicle then uploads the first driving data, after the VIN is coded, to the cloud for storage, and simultaneously performs one-way encryption on the VIN.

[0102] In this embodiment, by identifying the license plate and facial images in the first driving data, further desensitization and regulatory compliance, privacy avoidance, and leakage of private information can be achieved. In addition, the vehicle identification code is unidirectionally encrypted, making it impossible to decrypt the specific vehicle through reverse decoding, thereby improving the level of information confidentiality.

[0103] In this embodiment, the data cleaning of the second driving data includes:

[0104] Identify whether there is duplicate data in the second driving data; if duplicate data is found, delete or merge the duplicate data.

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

[0106] When there are null values / missing data, the missing data is filled in the second driving data by estimation or interpolation.

[0107] When abnormal value status data exists, the abnormal value status data is deleted from the second driving data.

[0108] Understandably, the second driving data contains both qualified and unqualified data. Qualified data includes continuous data without missing, empty, or outlier states; unqualified data includes data with unreliable positions, missing data, empty data, or outlier values. Outlier data includes abnormal GPS values ​​and abnormal vehicle speed values; speeds exceeding 200 km / h are considered abnormal. Duplicate data records are deleted or merged to avoid redundant calculations during analysis. The data is formatted to ensure standardization and consistency. Removing unqualified data from the second driving data improves data analysis efficiency.

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

[0110] For each road segment, obtain the mode of the historical driving speed;

[0111] Determine whether the mode is distributed within the speed limit range of each road segment. If so, use the mode as the third speed limit for the corresponding road segment. Otherwise, use the speed limit value with the smallest difference from the mode within the speed limit range as the third speed limit for the corresponding road segment.

[0112] The mode is the value that appears most frequently in the dataset. Calculating the mode is relatively simple; we just need to count the number of times each value appears in the data and find the value that appears most frequently.

[0113] Understandably, if there are multiple modes in a given road segment, the mode with the smallest speed change is selected as the third speed limit for that road segment based on the principle of stable speed.

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

[0115] The third speed limit of the driving lane is analyzed, and the speed limit value with the smallest difference from the mode within the speed limit range is taken as the location of the third speed limit of the corresponding road segment and is taken as the speed limit risk point.

[0116] The speed limit risk points are marked in the experience speed map package.

[0117] If most users' driving habits involve speeding, then the third speed limit for intelligent driving is the speed limit value with the smallest difference from the mode within the speed limit range. This location is prone to speeding risks, so designating this location 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 at the third limited speed in the driving lane includes:

[0119] Step S71: Mark the third speed limit on each road segment of the driving lane in the map data to form an empirical speed map package;

[0120] Step S72: The experience speed map package is sent to the current vehicle, and the third speed limit is used to control the current vehicle to travel in the driving lane.

[0121] In this embodiment, intelligent driving takeover data and rule analysis automatically identify takeover risk scenarios such as on / off ramps / ramp driving, automatically analyze the takeover risk points and speeds caused by vehicle speed, and make speed corrections. This automatically identifies driving areas covering the entire country. Through perception and user driving behavior data, it automatically mines points and behaviors affecting comfort, safety, and efficiency, and assigns speeds that conform to the driving habits of most users. Data update efficiency is high; the experience speed map package can be updated as quickly as possible without manual review.

[0122] In intelligent driving mode, user-initiated exit and user-initiated longitudinal takeover are both possible. User-initiated exit occurs when a user, dissatisfied with the current speed, exits the intelligent driving function by pressing the brake pedal. User-initiated longitudinal takeover occurs when a user, dissatisfied with the current speed, temporarily takes over the intelligent driving function by pressing the accelerator pedal.

[0123] In the aforementioned autonomous driving speed control method, firstly, the speed limit for each road segment in the current vehicle's driving lane is set as a first limited speed based on the speed limit values ​​on speed limit signs. Then, the difference between the speed limit values ​​on adjacent road segments is calculated as the speed limit change value. Based on the speed limit change value, target road segments with unreasonable speed limits, abrupt speed reductions, and fluctuating speed limits are identified. The first limited speed of the target road segment is then corrected to a second limited speed, which increases the range of selectable speeds. Finally, within the limited speed range of each road segment, a third limited speed is generated for each road segment based on historical driving speeds. The third limited speed conforms to the driving habits of most users, and the transition to the third limited speed is smooth. This ensures stable speed within a reasonable speed limit range, improving driving efficiency, enhancing the safety of both intelligent and human driving, and improving comfort.

[0124] It should be understood that, although Figures 2-5 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 2-5At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed 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 some of the sub-steps or stages of other steps.

[0125] In one embodiment, such as Figure 6 As shown, an autonomous driving speed control device 10 is provided, including: a driving data acquisition module 1, a speed limit sign speed limit value acquisition module 2, an initial speed limit acquisition module 3, a road segment speed limit change judgment module 4, a road segment 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 the driving data of the current vehicle, including the lane in which 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 segments and acquire the speed limit value of the speed limit sign for each road segment.

[0128] The initial speed limit acquisition module 3 is used to generate a first limited speed for controlling the current vehicle to pass through the driving lane based on the speed limit value of 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 to determine 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 positive and negative opposite values.

[0130] The road segment speed limit correction module 5 is used to obtain 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 a first threshold or the speed limit change value of the adjacent road segment being a positive or negative opposite value, and to correct the first limited speed of the target road segment to the second limited 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 drive at the third limited speed in the driving lane.

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

[0134] Collect images of the current vehicle in the driving lane and determine whether a speed limit sign is set up in the driving lane;

[0135] If no speed limit sign is set on the driving lane, the type of the driving lane is identified, and a default speed limit value is set 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, the step of responding to the absolute value of the speed limit change being greater than a first threshold or the speed limit change value of an adjacent road segment being an opposite positive or negative value, obtaining the road segment corresponding to the speed limit change value as the target road segment, and correcting the first speed limit of the target road segment to the second speed limit includes:

[0138] When the absolute value of the speed limit change value is greater than the 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 will be taken as the target road segment.

[0139] When the speed limit change values ​​of adjacent road segments are opposite in both positive and negative, both adjacent road segments will be regarded as target road segments.

[0140] Set a second speed limit that is greater than the first speed limit, and determine whether each road segment is a target road segment. If it is a target road segment, replace the first speed limit with the second speed limit. If it is not a target road segment, keep the first speed limit unchanged.

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

[0142] Collect vehicle data generated when a vehicle is traveling in the driving lane;

[0143] The driving image corresponding to each road segment of the driving lane is obtained from the vehicle data to form the first driving data;

[0144] The privacy images in the first driving data are encrypted to form the second driving data;

[0145] The second driving data is cleaned to obtain the driving speed range in the cleaned second driving data, which forms the historical driving speed corresponding to each road segment.

[0146] In this embodiment, the data cleaning of the second driving data includes:

[0147] Identify whether there is duplicate data in the second driving data; if duplicate data is found, delete or merge the duplicate data.

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

[0149] When there are null values / missing data, the missing data is filled in the second driving data by estimation or interpolation.

[0150] When abnormal value status data exists, the abnormal value status data is deleted from the second driving data.

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

[0152] For each road segment, obtain the mode of the historical driving speed;

[0153] Determine whether the mode is distributed within the speed limit range of each road segment. If so, use the mode as the third speed limit for the corresponding road segment. Otherwise, use the speed limit value with the smallest difference from the mode within the speed limit range as the third speed limit for the corresponding road segment.

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

[0155] The third speed limit is marked on each road segment of the driving lane in the map data to form an empirical speed map package;

[0156] The experience speed map package is sent to the current vehicle, and the third speed limit is used to control the current vehicle to travel in the driving lane.

[0157] In the aforementioned autonomous driving speed control device, the speed limit for each road segment in the driving lane is first set based on the speed limit value of the speed limit sign. Then, the difference between the speed limit values ​​of adjacent road segments is calculated as the speed limit change value. Based on the speed limit change value, target road segments with unreasonable speed limits, abrupt speed reductions, and fluctuating speed limits are identified. The first speed limit for the target road segment is then corrected to a second speed limit, which increases the range of selectable speeds. Finally, within the speed limit range of each road segment, a third speed limit is generated for each road segment based on historical driving speeds. The third speed limit conforms to the driving habits of most users, and the transition to the third speed limit is smooth. Within the reasonable speed limit range, the vehicle speed remains stable, improving driving efficiency, enhancing the safety of intelligent driving and human driving, and improving comfort.

[0158] Specific limitations regarding the autonomous driving speed control device can be found in the limitations of the autonomous driving speed control method described above, and will not be repeated here. Each module in the aforementioned autonomous driving speed control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0159] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0160] Collect driving data of the current vehicle, including the lane the current vehicle is traveling in in the map data;

[0161] The driving lane is divided into multiple road segments, and the speed limit value of the speed limit sign for each road segment is obtained;

[0162] A first speed limit is generated based on the speed limit value of the speed limit sign to control the current vehicle's speed when passing through the driving lane;

[0163] Calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, determine 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 positive and negative opposite values;

[0164] In response to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, the road segment corresponding to the speed limit change is obtained as the target road segment, and the first speed limit of the target road segment is corrected to the second speed limit.

[0165] 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;

[0166] Control the current vehicle to travel at the third limited speed in the driving lane.

[0167] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

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

[0169] Collect images of the current vehicle in the driving lane and determine whether a speed limit sign is set up in the driving lane;

[0170] If no speed limit sign is set on the driving lane, the type of the driving lane is identified, and a default speed limit value is set 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, it also performs the following steps:

[0173] The step of responding to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, obtaining the road segment corresponding to the speed limit change as the target road segment, and correcting the first speed limit of the target road segment to the second speed limit includes:

[0174] When the absolute value of the speed limit change value is greater than the 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 will be taken as the target road segment.

[0175] When the speed limit change values ​​of adjacent road segments are opposite in both positive and negative, both adjacent road segments will be regarded as target road segments.

[0176] Set a second speed limit that is greater than the first speed limit, and determine whether each road segment is a target road segment. If it is a target road segment, replace the first speed limit with the second speed limit. If it is not a target road segment, keep the first speed limit unchanged.

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

[0178] The acquisition of the historical driving speed corresponding to each road segment of the driving lane includes:

[0179] Collect vehicle data generated when a vehicle is traveling in the driving lane;

[0180] The driving image corresponding to each road segment of the driving lane is obtained from the vehicle data to form the first driving data;

[0181] The privacy images in the first driving data are encrypted to form the second driving data;

[0182] The second driving data is cleaned to obtain the driving speed range in the cleaned second driving data, which forms the historical driving speed corresponding to each road segment.

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

[0184] The step of cleaning the second driving data includes:

[0185] Identify whether there is duplicate data in the second driving data; if duplicate data is found, delete or merge the duplicate data.

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

[0187] When there are null values / missing data, the missing data is filled in the second driving data by estimation or interpolation.

[0188] When abnormal value status data exists, the abnormal value status data is deleted from the second driving data.

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

[0190] The process of generating a third limited speed for each road segment based on the historical driving speed within the limited speed range for each road segment includes:

[0191] For each road segment, obtain the mode of the historical driving speed;

[0192] Determine whether the mode is distributed within the speed limit range of each road segment. If so, use the mode as the third speed limit for the corresponding road segment. Otherwise, use the speed limit value with the smallest difference from the mode within the speed limit range as the third speed limit for the corresponding road segment.

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

[0194] The control of the current vehicle to travel at the third limited speed in the driving lane includes:

[0195] The third speed limit is marked on each road segment of the driving lane in the map data to form an empirical speed map package;

[0196] The experience speed map package is sent to the current vehicle, and the third speed limit is used to control the current vehicle to travel in the driving lane.

[0197] For specific limitations on the steps implemented when a computer program is executed by a processor, please refer to the limitations on the method of controlling the speed of autonomous vehicles mentioned above, which will not be repeated here.

[0198] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores autonomous driving speed control data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements an autonomous driving speed control method.

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

[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 executes the computer program to perform the following steps:

[0201] Collect driving data of the current vehicle, including the lane the current vehicle is traveling in in the map data;

[0202] The driving lane is divided into multiple road segments, and the speed limit value of the speed limit sign for each road segment is obtained;

[0203] A first speed limit is generated based on the speed limit value of the speed limit sign to control the current vehicle's speed when passing through the driving lane;

[0204] Calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, determine 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 positive and negative opposite values;

[0205] In response to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, the road segment corresponding to the speed limit change is obtained as the target road segment, and the first speed limit of the target road segment is corrected to the second speed limit.

[0206] 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;

[0207] Control the current vehicle to travel at the third limited speed in the driving lane.

[0208] In one embodiment, the processor, when executing a computer program, also performs the following steps:

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

[0210] Collect images of the current vehicle in the driving lane and determine whether a speed limit sign is set up in the driving lane;

[0211] If no speed limit sign is set on the driving lane, the type of the driving lane is identified, and a default speed limit value is set 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, the processor, when executing a computer program, also performs the following steps:

[0214] The step of responding to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, obtaining the road segment corresponding to the speed limit change as the target road segment, and correcting the first speed limit of the target road segment to the second speed limit includes:

[0215] When the absolute value of the speed limit change value is greater than the 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 will be taken as the target road segment.

[0216] When the speed limit change values ​​of adjacent road segments are opposite in both positive and negative, both adjacent road segments will be regarded as target road segments.

[0217] Set a second speed limit that is greater than the first speed limit, and determine whether each road segment is a target road segment. If it is a target road segment, replace the first speed limit with the second speed limit. If it is not a target road segment, keep the first speed limit unchanged.

[0218] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0219] The acquisition of the historical driving speed corresponding to each road segment of the driving lane includes:

[0220] Collect vehicle data generated when a vehicle is traveling in the driving lane;

[0221] The driving image corresponding to each road segment of the driving lane is obtained from the vehicle data to form the first driving data;

[0222] The privacy images in the first driving data are encrypted to form the second driving data;

[0223] The second driving data is cleaned to obtain the driving speed range in the cleaned second driving data, which forms the historical driving speed corresponding to each road segment.

[0224] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0225] The step of cleaning the second driving data includes:

[0226] Identify whether there is duplicate data in the second driving data; if duplicate data is found, delete or merge the duplicate data.

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

[0228] When there are null values / missing data, the missing data is filled in the second driving data by estimation or interpolation.

[0229] When abnormal value status data exists, the abnormal value status data is deleted from the second driving data.

[0230] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0231] The process of generating a third limited speed for each road segment based on the historical driving speed within the limited speed range for each road segment includes:

[0232] For each road segment, obtain the mode of the historical driving speed;

[0233] Determine whether the mode is distributed within the speed limit range of each road segment. If so, use the mode as the third speed limit for the corresponding road segment. Otherwise, use the speed limit value with the smallest difference from the mode within the speed limit range as the third speed limit for the corresponding road segment.

[0234] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0235] The control of the current vehicle to travel at the third limited speed in the driving lane includes:

[0236] The third speed limit is marked on each road segment of the driving lane in the map data to form an empirical speed map package;

[0237] The experience speed map package is sent to the current vehicle, and the third speed limit is used to control the current vehicle to travel in the driving lane.

[0238] For specific limitations on the steps a processor takes when executing a computer program, please refer to the limitations on the method for controlling the speed of autonomous vehicles mentioned above, which will not be repeated here.

[0239] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0240] Collect driving data of the current vehicle, including the lane the current vehicle is traveling in in the map data;

[0241] The driving lane is divided into multiple road segments, and the speed limit value of the speed limit sign for each road segment is obtained;

[0242] A first speed limit is generated based on the speed limit value of the speed limit sign to control the current vehicle's speed when passing through the driving lane;

[0243] Calculate the difference between the speed limit values ​​of the speed limit signs of adjacent road segments as the speed limit change value, determine 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 positive and negative opposite values;

[0244] In response to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, the road segment corresponding to the speed limit change is obtained as the target road segment, and the first speed limit of the target road segment is corrected to the second speed limit.

[0245] 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;

[0246] Control the current vehicle to travel at the third limited speed in the driving lane.

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

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

[0249] Collect images of the current vehicle in the driving lane and determine whether a speed limit sign is set up in the driving lane;

[0250] If no speed limit sign is set on the driving lane, the type of the driving lane is identified, and a default speed limit value is set 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, it also performs the following steps:

[0253] The step of responding to the absolute value of the speed limit change being greater than a first threshold or the speed limit change being a positive or negative opposite value for an adjacent road segment, obtaining the road segment corresponding to the speed limit change as the target road segment, and correcting the first speed limit of the target road segment to the second speed limit includes:

[0254] When the absolute value of the speed limit change value is greater than the 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 will be taken as the target road segment.

[0255] When the speed limit change values ​​of adjacent road segments are opposite in both positive and negative, both adjacent road segments will be regarded as target road segments.

[0256] Set a second speed limit that is greater than the first speed limit, and determine whether each road segment is a target road segment. If it is a target road segment, replace the first speed limit with the second speed limit. If it is not a target road segment, keep the first speed limit unchanged.

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

[0258] The acquisition of the historical driving speed corresponding to each road segment of the driving lane includes:

[0259] Collect vehicle data generated when a vehicle is traveling in the driving lane;

[0260] The driving image corresponding to each road segment of the driving lane is obtained from the vehicle data to form the first driving data;

[0261] The privacy images in the first driving data are encrypted to form the second driving data;

[0262] The second driving data is cleaned to obtain the driving speed range in the cleaned second driving data, which forms the historical driving speed corresponding to each road segment.

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

[0264] The step of cleaning the second driving data includes:

[0265] Identify whether there is duplicate data in the second driving data; if duplicate data is found, delete or merge the duplicate data.

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

[0267] When there are null values / missing data, the missing data is filled in the second driving data by estimation or interpolation.

[0268] When abnormal value status data exists, the abnormal value status data is deleted from the second driving data.

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

[0270] The process of generating a third limited speed for each road segment based on the historical driving speed within the limited speed range for each road segment includes:

[0271] For each road segment, obtain the mode of the historical driving speed;

[0272] Determine whether the mode is distributed within the speed limit range of each road segment. If so, use the mode as the third speed limit for the corresponding road segment. Otherwise, use the speed limit value with the smallest difference from the mode within the speed limit range as the third speed limit for the corresponding road segment.

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

[0274] The control of the current vehicle to travel at the third limited speed in the driving lane includes:

[0275] The third speed limit is marked on each road segment of the driving lane in the map data to form an empirical speed map package;

[0276] The experience speed map package is sent to the current vehicle, and the third speed limit is used to control the current vehicle to travel in the driving lane.

[0277] For specific limitations on the steps implemented when a computer program is executed by a processor, please refer to the limitations on the method of controlling the speed of autonomous vehicles mentioned above, which will not be repeated here.

[0278] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0279] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An automatic driving vehicle speed control method, characterized by, The method comprises the following steps: collecting driving data of a current vehicle, the driving data comprising a driving lane of the current vehicle in map data; dividing the driving lane into a plurality of road segments, and obtaining a speed limit value of a speed limit sign of each road segment; generating a first limited speed for controlling the current vehicle to pass through the driving lane according to the speed limit value of the speed limit sign; calculating a difference value of the speed limit value of adjacent road segments as a speed limit change value, and judging whether the absolute value of the speed limit change value is greater than a first threshold value and / or whether the speed limit change values of adjacent road segments are positive and negative values; in response to the absolute value of the speed limit change value being greater than the first threshold value or the speed limit change values of adjacent road segments being positive and negative values, obtaining a road segment corresponding to the speed limit change value as a target road segment, and correcting the first limited speed of the target road segment to a second limited speed; wherein the obtaining of the road segment corresponding to the speed limit change value as the target road segment comprises: when the absolute value of the speed limit change value is greater than the first threshold value, taking the adjacent road segment with the minimum speed limit value of the speed limit sign among the adjacent road segments in which the speed limit change value is calculated as the target road segment; and when the speed limit change values of adjacent road segments are positive and negative values, taking both adjacent road segments as target road segments; obtaining a historical driving speed corresponding to each road segment of the driving lane, and generating a third limited speed of each road segment within a limited speed range of each road segment based on the historical driving speed; controlling the current vehicle to drive on the driving lane at the third limited speed.

2. The automatic driving vehicle speed control method according to claim 1, characterized by, The generation of the first limited speed for controlling the current vehicle to pass through the driving lane according to the speed limit value of the speed limit sign comprises: collecting an image of the current vehicle on the driving lane, and judging whether a speed limit sign is arranged on the driving lane; if no speed limit sign is arranged 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 arranged on the driving lane, obtaining a speed limit value of the speed limit sign, and setting the speed limit value on the driving lane as the speed limit value of the speed limit sign.

3. The automatic driving vehicle speed control method according to claim 1, characterized by, The obtaining of the road segment corresponding to the speed limit change value as the target road segment and the correction of the first limited speed of the target road segment to the second limited speed in response to the absolute value of the speed limit change value being greater than the first threshold value or the speed limit change values of adjacent road segments being positive and negative values comprises: setting the second limited speed to be greater than the first limited speed, judging whether each road segment is a target road segment, and if so, replacing the first limited speed with the second limited speed; and if not, keeping the first limited speed unchanged.

4. The automatic driving vehicle speed control method according to claim 1, characterized by, The obtaining of the historical driving speed corresponding to each road segment of the driving lane comprises: collecting vehicle data generated when a vehicle drives on the driving lane; obtaining driving images corresponding to each road segment of the driving lane from the vehicle data to form first driving data; performing encryption processing on privacy images in the first driving data to form second driving data; The second driving data is data cleaned, and a driving speed range in the second driving data after data cleaning is used to form a historical driving speed corresponding to each road segment.

5. The automatic driving vehicle speed control method according to claim 4, characterized by, The data cleaning of the second driving data includes: identifying whether there is repeated data in the second driving data, and deleting or merging the repeated data if there is repeated data; identifying whether there is null / missing data and abnormal value state data in the second driving data; when there is null / missing data, the missing data is filled in the second driving data by estimation or interpolation; when there is abnormal value state data, the abnormal value state data is deleted in the second driving data.

6. The automatic driving vehicle speed control method according to claim 1, characterized by, The third limit speed of each road segment is generated based on the historical driving speed within the limit speed range of each road segment, which includes: corresponding to each road segment, the mode of the historical driving speed is obtained; judging whether the mode is distributed within the limit speed range of each road segment, if yes, the mode is taken as the third limit speed of the corresponding road segment, if not, the limit speed value with the smallest difference from the mode within the limit speed range is taken as the third limit speed of the corresponding road segment.

7. The automatic driving vehicle speed control method according to claim 1, characterized by, The control of the current vehicle driving at the third limit speed on the driving lane includes: labeling the third limit speed on each road segment of the driving lane in the map data to form an experience speed map package; downloading the experience speed map package to the current vehicle, and controlling the current vehicle to drive on the driving lane by using the third limit speed.

8. An automatic driving vehicle speed control device characterized by comprising: The device includes: a driving data acquisition module for acquiring driving data of a current vehicle, the driving data including a driving lane of the current vehicle in map data; a speed limit sign limit speed value acquisition module for dividing the driving lane into a plurality of road segments, and acquiring a speed limit sign limit speed value of each road segment; an initial limit speed acquisition module for generating a first limit speed for controlling the current vehicle to pass through the driving lane according to the speed limit sign limit speed value; a road segment limit speed change judgment module for calculating a difference value of the speed limit sign limit speed values of adjacent road segments as a limit speed change value, judging whether the absolute value of the limit speed change value is greater than a first threshold value, and / or whether the limit speed change values of adjacent road segments are positive and negative values; a road segment limit speed correction module for, in response to the absolute value of the limit speed change value being greater than the first threshold value or the limit speed change values of adjacent road segments being positive and negative values, acquiring a road segment corresponding to the limit speed change value as a target road segment, and correcting the first limit speed of the target road segment to a second limit speed; wherein the acquisition of the road segment corresponding to the limit speed change value as the target road segment includes: when the absolute value of the limit speed change value is greater than the first threshold value, acquiring an adjacent road segment with the minimum speed limit sign limit speed value among the adjacent road segments in which the limit speed change value is calculated as the target road segment; and when the limit speed change values of adjacent road segments are positive and negative values, acquiring both adjacent road segments as the target road segment. The intelligent driving vehicle speed selection module is configured to acquire historical driving vehicle speeds corresponding to each road segment of a driving lane, and generate a third limited vehicle speed for each road segment based on the historical driving vehicle speeds within a limited vehicle speed range of each road segment. The intelligent driving vehicle speed control module is configured to control the current vehicle to travel on the driving lane at the third limited vehicle speed.

9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 7.

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