Intelligent speed limiting method and system based on navigation line, storage medium and electronic equipment

Abstract

The invention provides an intelligent speed limiting method and system based on a navigation line, a storage medium and electronic equipment. The method comprises the following steps: acquiring navigation line information; performing coordinate system conversion on the navigation line information; calculating the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information; acquiring current position information of the vehicle; calculating point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle; calculating the radius of the vehicle on the navigation line based on the point interval positioning; and limiting the speed of the vehicle based on the radius of the vehicle on the navigation line. According to the intelligent speed limiting method and system based on the navigation line, the storage medium and the electronic equipment, the turning capacity of the vehicle can be improved only according to the navigation map and the vehicle-mounted sensing system under the condition that the vehicle does not have a high-precision map.

Description

Technical Field

[0001] The present invention belongs to the technical field of autonomous driving, and in particular relates to an intelligent speed limiting method, system, storage medium and electronic equipment based on a navigation line. Background Art

[0002] With the continuous development of the global automotive industry, the electrification and intelligent technology of vehicles have become an important trend in the industry. As one of the core technologies of smart cars, the development level of automatic assisted driving system is directly related to the performance and safety of smart cars. Among these systems, intelligent speed limit capability is a key component, which can help vehicles automatically adjust the driving speed under different road conditions to ensure driving safety.

[0003] Currently, the intelligent speed limit technology on the market mainly relies on high-precision maps and high-performance perception systems. High-precision maps can provide detailed road information, including speed limit signs, traffic signals, road types, etc., while high-performance perception systems use sensors such as cameras, radars, and lidars to capture road conditions and vehicle status in real time to achieve precise control of vehicle speed.

[0004] Although existing smart speed limit technologies have played an important role in improving driving safety, they also have some obvious drawbacks. First, the update and maintenance costs of high-precision maps are high, and the latest map data may not be available in some areas. Second, the cost of high-performance perception systems is also relatively high, which increases the difficulty of commercializing automatic assisted driving systems. In addition, these systems are highly dependent on environmental conditions. For example, severe weather conditions may affect the performance of sensors, thereby reducing the accuracy and reliability of smart speed limits.

[0005] Although the existing intelligent speed limit technology meets the needs of automatic assisted driving systems to a certain extent, its high cost and dependence on environmental conditions are still the main factors restricting its widespread application. Therefore, developing a lower-cost and more adaptable intelligent speed limit solution is the key to the future development of automatic assisted driving technology. Summary of the invention

[0006] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide an intelligent speed limit method, system, storage medium and electronic device based on navigation lines, so that the vehicle can improve the vehicle's cornering ability based only on the navigation map and the on-board perception system (camera and millimeter-wave radar) without relying on high-precision maps, thereby effectively improving the safety and comfort of autonomous driving vehicles in complex road environments.

[0007] In a first aspect, the present invention provides an intelligent speed limit method based on a navigation line, the method comprising the following steps: obtaining navigation line information;

[0008] Convert the navigation line information into a coordinate system;

[0009] Calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information;

[0010] Get the vehicle's current location information;

[0011] Calculate the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle;

[0012] Calculating the radius of the vehicle on the navigation line based on the point interval positioning;

[0013] The speed of the vehicle is limited based on the radius of the vehicle on the navigation line.

[0014] In an implementation of the first aspect, the navigation line information is acquired through a middleware, and the navigation line information is sent to a vehicle control terminal based on a TCP / IP protocol.

[0015] In an implementation manner of the first aspect, the longitude and latitude coordinates of the discrete points of the navigation line are converted into northeast celestial and ground coordinates.

[0016] In an implementation of the first aspect, calculating the radius corresponding to any discrete point of the navigation line based on the converted navigation line information includes the following steps:

[0017] Select a discrete point on the navigation line at random, and select two more discrete points based on the discrete point to form a triangle;

[0018] The radius corresponding to the discrete point is obtained based on the side length and area of ​​the triangle, until the radius of each discrete point on the entire navigation line is obtained.

[0019] In an implementation of the first aspect, a formula for calculating the distance of any discrete point of the navigation line relative to the navigation starting point is as follows:

[0020]

[0021] Among them, S i represents the distance of the i-th discrete point of the navigation line relative to the navigation starting point, P i (x i ,y i ) is represented as a discrete point P i The coordinates of P i-1 (x i-1 ,y i-1) is represented as a discrete point P i At a point P on the navigation line i-1 The coordinates of S i-1 Indicates the distance of the i-1th discrete point of the navigation line relative to the navigation starting point.

[0022] In an implementation of the first aspect, calculating the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle includes the following steps:

[0023] Select three discrete points on the navigation line that are closest to the current vehicle position;

[0024] Defining the navigation line as a first section and a second section based on the selected discrete points;

[0025] Calculating the foot of the perpendicularity between the current vehicle position on the first road section and the second road section;

[0026] Determine the road section where the vehicle is located based on the vertical foot calculation result;

[0027] The point interval positioning of the vehicle on the navigation line is calculated based on the road section.

[0028] In an implementation of the first aspect, the radius of the vehicle on the navigation line is calculated based on the point interval positioning using the following formula:

[0029]

[0030] Among them, R v Represents the radius of the vehicle on the navigation line, R e , R s Indicates the radius corresponding to the current position of the vehicle, S e , S s It indicates the distance between the vehicle's current position and the navigation starting point, and S indicates the distance between the vehicle's vertical foot and the navigation starting point.

[0031] In a second aspect, the present invention provides an intelligent speed limit system based on a navigation line, the system comprising a first acquisition module, a coordinate conversion module, a first calculation module, a second acquisition module, a second calculation module, a third calculation module and an intelligent speed limit module;

[0032] The first acquisition module is used to acquire navigation line information;

[0033] The coordinate conversion module is used to convert the navigation line information into a coordinate system;

[0034] The first calculation module is used to calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information;

[0035] The second acquisition module is used to acquire the current position information of the vehicle;

[0036] The second calculation module is used to calculate the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle;

[0037] The third calculation module is used to calculate the radius of the vehicle on the navigation line based on the point interval positioning;

[0038] The intelligent speed limit module is used to limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

[0039] In a third aspect, the present invention provides an electronic device, the electronic device comprising: a processor and a memory;

[0040] The memory is used to store computer programs;

[0041] The processor is used to execute the computer program stored in the memory so that the electronic device executes the above-mentioned intelligent speed limit method based on the navigation line.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by an electronic device, implements the above-mentioned intelligent speed limiting method based on a navigation line.

[0043] As described above, the navigation line-based intelligent speed limit method, system, storage medium and electronic device of the present invention have the following beneficial effects:

[0044] The navigation line-based intelligent speed limit method, system, storage medium and electronic device of the present invention provide an intelligent speed limit method that improves the vehicle's cornering ability by relying only on navigation maps and vehicle-mounted sensing systems in the absence of high-precision maps. Its beneficial effects are mainly reflected in the following aspects:

[0045] First, the present invention simplifies the reliance on high-precision maps: Traditional autonomous driving and advanced driver assistance systems often rely on high-precision maps to provide accurate road information, including curvature radius and speed limit. The method of the present invention uses a simple navigation map and an onboard perception system to achieve intelligent speed limit without high-precision maps, greatly simplifying the system's reliance on map accuracy.

[0046] Secondly, the present invention reduces the need for high-performance perception systems: Traditional systems may require high-performance perception systems, such as laser radar, to obtain high-precision environmental information. By using common vehicle-mounted perception systems such as cameras and millimeter-wave radars, the system's need for high-performance perception systems is reduced, making the technology more popular and practical.

[0047] Thirdly, the present invention has an intelligent dynamic speed limit strategy: it can dynamically adjust the speed of the vehicle according to the position and radius of the vehicle on the navigation line. This intelligent speed limit method based on the navigation line enables the vehicle to adjust according to the actual road conditions, thereby improving the safety and comfort of driving.

[0048] Finally, the present invention can achieve safety and comfort in complex road environments: in complex road environments, such as ramps and curves, the vehicle's driving speed needs to be adjusted according to the curvature radius and speed limit of the road. The present invention can accurately calculate the position and radius of the vehicle on the navigation line, and dynamically limit the speed of the vehicle based on this information, thereby achieving safety and comfort in complex road environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 Shown is a flow chart of an embodiment of the intelligent speed limit method based on a navigation line of the present invention;

[0050] Figure 2a Shown is a flow chart of obtaining navigation line information in one embodiment of the present invention;

[0051] Figure 2b Shown is a schematic diagram of obtaining navigation line information in an embodiment of the present invention;

[0052] Figure 3 It is a schematic diagram showing the calculation of the radius of a discrete point in one embodiment of the present invention;

[0053] Figure 4 Shown is a simplified flowchart of an intelligent speed limit method based on a navigation line in one embodiment of the present invention;

[0054] Figure 5 Shown is a schematic diagram of the structure of an electronic device of the present invention in one embodiment;

[0055] Figure 6 Shown is a schematic structural diagram of an embodiment of a smart speed limit system based on a navigation line according to the present invention. DETAILED DESCRIPTION

[0056] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0057] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0058] The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0059] like Figure 1 As shown, in one embodiment, the navigation line-based intelligent speed limit method of the present invention includes steps S11 to S17.

[0060] Step S11, obtaining navigation line information.

[0061] Specifically, Figures 2a to 2b As shown, the navigation line information is obtained through the middleware, and the navigation line information is sent to the vehicle control end based on the TCP / IP protocol. Middleware plays a vital role in the vehicle navigation system. As a software layer, it is an abstract layer between the operating system and the service, and is used to handle the communication between the vehicle control end and the navigation system. The following are the detailed steps to obtain the navigation line information and send it to the vehicle control end through the TCP / IP protocol:

[0062] Step S111, preliminarily obtain navigation line information. The middleware first needs to obtain navigation line information from the navigation system or map service. This information usually includes a series of coordinate points, representing the predetermined driving path, and possible road attributes, such as curve radius, slope, speed limit, etc. The navigation information source involved in the present invention includes but is not limited to vehicle navigation. Similar mobile phone navigation, iPad navigation, etc.

[0063] Step S112, processing and packaging data. Once the navigation line information is obtained, the middleware processes the data and converts it into a format that the vehicle control system can understand and use. This involves parsing, filtering, formatting or compressing the data.

[0064] Step S113: Establish a TCP / IP connection. The middleware uses the TCP / IP protocol to establish a network connection with the vehicle control terminal. TCP / IP is a widely used network communication protocol that provides reliable, connection-oriented services to ensure that data can be transmitted correctly from the sender to the receiver.

[0065] Step S114: Sending navigation line information. Through the established TCP / IP connection, the middleware sends the packaged navigation line information to the vehicle control terminal. This process includes:

[0066] Serialization: Convert navigation line information into a format suitable for network transmission, usually a byte stream.

[0067] Send: Send the serialized data to the vehicle control end through the TCP socket.

[0068] Confirmation: Wait for the vehicle control end to confirm receipt of data to ensure the reliability of transmission.

[0069] Step S115, receiving and processing by the vehicle receiving end. After receiving the navigation line information, the vehicle control end will analyze and process it. This information will be used to guide the vehicle's driving, including speed adjustment, direction control, etc.

[0070] The communication between the middleware and the vehicle control end is continuous. The middleware needs to monitor the connection status, ensure the continuous transmission of data, and re-establish the connection when necessary. The vehicle control end may send feedback to the middleware based on the received navigation line information and the real-time status of the vehicle. The middleware makes corresponding adjustments based on these feedbacks, such as updating the navigation line information, adjusting the data transmission frequency, etc. Through the above process, the middleware ensures that the vehicle can be accurately controlled according to the real-time navigation line information, thereby achieving safe and efficient driving. The advantage of using the TCP / IP protocol is that it provides a stable and reliable communication mechanism, which is suitable for vehicle control systems with high requirements for data integrity and transmission reliability.

[0071] Step S12: convert the navigation line information into a coordinate system.

[0072] Specifically, the longitude and latitude coordinates of the discrete points of the navigation line are converted into northeast celestial and ground coordinates.

[0073] The Northeastern Celestial Coordinate System is a local Cartesian coordinate system, usually used to describe the position of a point relative to a reference point, where "North" refers to the direction of the North Pole of the Earth, "East" refers to the east of the Earth, and "Sky" refers to the center of the Earth. The specific conversion steps are as follows:

[0074] Step S121, determine the reference point. Select a reference point, the latitude and longitude coordinates of which will be used as the basis for the conversion. Usually, this reference point can be the starting point of the navigation line or any fixed point.

[0075] Step S122, calculate the origin of the Northeast Celestial Coordinate System of the reference point. Use the longitude and latitude coordinates of the reference point to convert them to coordinates in the Earth-Centered, Earth-Fixed (ECEF) coordinate system. Then, convert the ECEF coordinates to coordinates in the Northeast Celestial Coordinate System, which will serve as the origin for converting other points.

[0076] Step S123, converting longitude and latitude to ECEF coordinates. For each discrete point, first convert its longitude and latitude coordinates to ECEF coordinates. This usually includes: calculating the value of the earth radius at a given latitude. Calculate the ECEF coordinates using longitude and latitude and the earth radius.

[0077] Step S124: Conversion from ECEF to Northeast Celestial Coordinates. Calculate the difference between the reference point ECEF coordinates and the point to be converted ECEF coordinates. Apply the rotation matrix to convert the difference from the ECEF coordinate system to the Northeast Celestial Coordinate System.

[0078] Through this process, we can convert the latitude and longitude coordinates of each discrete point on the navigation line into the northeast sky ground coordinates relative to the reference point.

[0079] Step S13: Calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information.

[0080] After converting the latitude and longitude coordinates of the discrete points of the navigation line to the Northeastern Sky (NED) ground coordinates, the radius corresponding to each discrete point and the distance relative to the navigation starting point are calculated based on this converted information. The radius of the discrete point of the navigation line refers to the vertical distance from the centerline of the navigation line to the discrete point. In the case of a curved navigation line, this radius may vary with the position. The radius of the discrete point can help determine whether the vehicle deviates from the predetermined navigation path. If the vehicle remains within the radius of the navigation line, it is considered to be traveling along the correct path. The distance of the discrete point of the navigation line relative to the navigation starting point refers to the straight-line distance from the navigation starting point to the current discrete point, which can help determine the vehicle's position on the navigation line. By comparing the actual position of the vehicle with the expected position on the navigation line, the specific position of the vehicle on the navigation line can be calculated.

[0081] By calculating the radius and distance between the vehicle's current position and discrete points on the guidance line, the vehicle's exact position on the guidance line can be determined. For example, if the vehicle is at a small radius from the guidance line, then it is likely on the guidance line. If the vehicle deviates from the guidance line, by calculating its relative position to the guidance line, the vehicle's heading can be adjusted to return it to the correct path. In autonomous driving or precision navigation systems, knowing the specific position of the vehicle relative to the guidance line is crucial to tracking the intended path. This involves continuously calculating the relationship between the vehicle's position and the guidance line, and adjusting the vehicle's direction and speed accordingly. By comparing the vehicle's actual position with the expected position, the accuracy and reliability of the navigation system can be evaluated, and the system parameters can be adjusted to improve performance.

[0082] Specifically, calculating the radius corresponding to any discrete point of the navigation line based on the converted navigation line information includes the following steps:

[0083] Select a discrete point on the navigation line at random, and select two more discrete points based on the discrete point to form a triangle;

[0084] The radius corresponding to the discrete point is obtained based on the side length and area of ​​the triangle, until the radius of each discrete point on the entire navigation line is obtained.

[0085] In one embodiment, the discrete points P on the navigation line are calculated. i The corresponding radius R i The steps are as follows:

[0086] Step S131: forming a triangle. Figure 3 As shown, select P on the navigation line i Discrete point, based on the point on the navigation line after a number of points are separated, then two discrete points are taken in sequence to form a triangle. The three points of the triangle are recorded as: P1 (x1, y1), P2 (x2, y2), P3 (x3, y3). Among them, when calculating the radius of the discrete point on the navigation line, the three points selected can be three adjacent points, three points with equal distances, or three points separated by the same number of intermediate points.

[0087] Step S132: Calculate the side lengths a, b, c and area S of the triangle. The length of each side of the triangle is calculated using the distance formula between two points. These lengths are calculated based on the coordinates of the points on the navigation line. The side length and area calculation formulas are as follows:

[0088]

[0089] p = 0.5 × (a + b + c)

[0090] Among them, a, b, c represent the side lengths of the triangle, S represents the area of ​​the triangle, and p represents the half-side length of the triangle.

[0091] Step S133, calculate the radius of the circumscribed circle. Calculate the radius R of the circumscribed circle based on the area and side length of the triangle. This radius is regarded as the "influence range" of the center point of the triangle. The calculation formula is as follows:

[0092]

[0093] Step S134: Determine the radius of the discrete point. Assign R to the selected discrete point: In this way, each discrete point is assigned a corresponding radius for further path planning or navigation decision making.

[0094] Calculate discrete points P on the navigation line i (x i ,y i ) relative to the distance of the navigation starting point P0 (x0, y0) step S iThe formula is as follows:

[0095]

[0096] Among them, S i represents the distance of the i-th discrete point of the navigation line relative to the navigation starting point, P i (x i ,y i ) is represented as a discrete point P i The coordinates of P i-1 (x i-1 ,y i-1 ) is represented as a discrete point P i At a point P on the navigation line i-1 The coordinates of S i-1 Indicates the distance of the i-1th discrete point of the navigation line relative to the navigation starting point.

[0097] Step S14: Obtain the current location information of the vehicle.

[0098] Through sensor fusion technology, by combining data from different sensors, more accurate and reliable vehicle location information can be obtained.

[0099] Step S15: Calculate the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle.

[0100] A point interval refers to the specific segment of the vehicle on the navigation line. It can be a predefined interval or an interval dynamically determined based on the vehicle's current position. By determining the point interval the vehicle is in, you can know the characteristics of the road section the vehicle is about to enter, such as curves, ramps, intersections, etc. This information is crucial for setting speed limits. For example, near curves or intersections, the speed limit of a vehicle is usually reduced to ensure safety.

[0101] Step S16: Calculate the radius of the vehicle on the navigation line based on the point interval positioning.

[0102] The radius of the vehicle on the navigation line refers to the vertical distance between the vehicle and the center line of the navigation line, and the size of the radius can reflect the degree of deviation from the navigation line. If the radius of the vehicle deviating from the navigation line is large, it may mean that it is driving too fast on the curve and needs to reduce the speed limit to avoid loss of control or accidents.

[0103] Calculating the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle comprises the following steps:

[0104] Select three discrete points on the navigation line that are closest to the current vehicle position;

[0105] Defining the navigation line as a first section and a second section based on the selected discrete points;

[0106] Calculating the foot of the perpendicularity between the current vehicle position on the first road section and the second road section;

[0107] Determine the road section where the vehicle is located based on the vertical foot calculation result;

[0108] The point interval positioning of the vehicle on the navigation line is calculated based on the road section.

[0109] In one embodiment, the following steps are used to calculate the point interval of the vehicle position on the navigation line:

[0110] Step S161, select the nearest neighbor point. Select three discrete points close to the current position of the vehicle in sequence, denoted as C1, C2, and C3. These three points will be used to determine the specific road section and position of the vehicle.

[0111] Step S162: Calculate the foot of the perpendicular. Calculate the vertical projection of the vehicle's current position to the two consecutive road segments defined by the three points. Calculate the vehicle's current position P v The vertical projection point relative to the first section of the road (from C1 to C2), that is, the foot of the perpendicular P f This involves geometric methods, usually calculating the distance from a point to a line. Similarly, calculating the vehicle's current position P v The foot of the perpendicular to the second section of the road (from C2 to C3).

[0112] Step S163, determine the position of the foot of the perpendicular. If the foot of the perpendicular falls on the first section of the road (from C1 to C2), the vehicle is located in the first section; if the foot of the perpendicular falls on the second section of the road (from C2 to C3), the vehicle is located in the second section.

[0113] Finally, after determining which road segment the vehicle is on, the actual position of the vehicle on the navigation line is updated to the corresponding vertical foot position. This helps to accurately locate the vehicle's position on the navigation path, which is crucial for path planning and navigation accuracy. This process is a key step in vehicle navigation and autonomous driving technology, ensuring that the vehicle's position is accurately known even in complex road conditions. With accurate location information, the system can better plan driving routes, adjust paths, provide real-time traffic information, etc., thereby improving driving safety and efficiency.

[0114] The point interval is calculated to determine the specific position of the vehicle on the navigation line, while the radius is calculated to understand the lateral position of the vehicle relative to the navigation line. The combination of the two can more accurately describe the three-dimensional position of the vehicle on the navigation line. In an autonomous driving or navigation system, determining the point interval where the vehicle is located helps plan the next driving path, while calculating the radius helps adjust the lateral control of the vehicle to ensure that the vehicle accurately tracks the navigation line. If the point interval of the vehicle on the navigation line changes (for example, from a straight segment to a curved segment), the vehicle may need to adjust its speed and direction. At this time, calculating the radius can help the vehicle control system make appropriate adjustments, such as reducing speed to safely pass the curve. If the radius of the vehicle exceeds a predetermined threshold, it indicates that the vehicle may have deviated from the navigation line and corrective measures such as steering adjustments are required.

[0115] Therefore, the speed limit of the vehicle can be adjusted dynamically based on the interval and radius of the vehicle's points on the navigation line. For example, if the vehicle approaches a curve and its radius indicates that it may be on the outside of the curve, the system may reduce the speed limit to prevent skidding or rollover. Different sections of road may have different speed limit requirements. By calculating the vehicle's position on the navigation line, it can be ensured that the vehicle complies with relevant traffic rules, such as reducing speed in school zones or residential areas. Modern vehicles are often equipped with driver assistance systems that adjust the speed based on the vehicle's position and radius on the navigation line to provide a safer driving experience. In bad weather or road conditions, the vehicle may need to reduce speed. By calculating the interval and radius of the vehicle's points on the navigation line in real time, it can better adapt to changes in road conditions. Calculating the interval and radius of the vehicle's points on the navigation line based on the vehicle's current position information is an important part of intelligent transportation systems and autonomous driving technologies. They are closely related to the setting of vehicle speed limits, and together ensure driving safety, compliance with traffic rules and improve driving efficiency.

[0116] Furthermore, the radius corresponding to the current position of the vehicle obtained in steps S13 and S15 and the distance relative to the navigation starting point, and the distance between the vehicle's vertical foot and the navigation starting point are used to calculate the radius corresponding to the vehicle on the navigation line.

[0117] In one embodiment, the vehicle's current position P v The point interval is (P s , P e ), get the starting point P of the point interval s The corresponding radius R s , the end point of the interval R e The corresponding radius R e ; Then get the interval starting point P s The corresponding distance S s , the end point of the interval P e The corresponding distance S e ; Further calculate the foot of the vertical Pf and P f The radius R corresponding to the navigation line v , the formula is as follows:

[0118]

[0119] Among them, R v Represents the radius of the vehicle on the navigation line, R e , R s Indicates the radius corresponding to the current position of the vehicle, S e , S s It indicates the distance between the vehicle's current position and the navigation starting point, and S indicates the distance between the vehicle's vertical foot and the navigation starting point.

[0120] Step S17: Limiting the speed of the vehicle based on the radius of the vehicle on the navigation line.

[0121] According to the current radius of the vehicle, the corresponding maximum speed limit value is found from the preset speed limit standard, and the speed of the vehicle is adjusted accordingly. In one embodiment, a speed limit standard is preset, such as a speed limit of 40km / h for a radius of 100m and a speed limit of 50km / h for a radius of 200m. The standard is obtained through actual road testing and calibration. Speed ​​limit formula. It can be expressed as V=f(R). The expression of the function f(R) is obtained through actual calibration. The function f(R) can be a piecewise function, and each radius interval corresponds to a speed limit value. Find the speed limit value corresponding to the current radius, different radii correspond to different speed limit values, and some filtering will be done internally between different speed limit values ​​to ensure the smoothness of the speed. If the current speed of the vehicle is higher than the speed limit value found, it is necessary to slow down. If the current speed of the vehicle is lower than the speed limit value, the current speed can be maintained or accelerated appropriately according to other traffic conditions.

[0122] In one embodiment, if Figure 4 As shown, in the absence of a high-precision map, the intelligent speed limit method for improving the vehicle's cornering ability by using a navigation map and an onboard perception system includes the following steps:

[0123] (1) Extract navigation line information. Extract navigation line information including turning points, curvature radius, and speed limit from the navigation map.

[0124] (2) Coordinate system conversion: Convert the navigation line information from longitude and latitude coordinates to northeast celestial ground coordinates.

[0125] (3) Calculate the radius of discrete points on the navigation line. For each discrete point on the navigation line, calculate its vertical distance to the turning centerline, i.e., the radius.

[0126] (4) Calculate the distance between the discrete points on the navigation line and the starting point of the navigation line. For each discrete point on the navigation line, calculate its straight-line distance to the starting point of the navigation line.

[0127] (5) Calculate the point interval of the vehicle on the navigation line. Based on the current position information of the vehicle, determine the specific point interval of the vehicle on the navigation line.

[0128] (6) Calculate the radius of the vehicle on the navigation line. Based on the current position information of the vehicle, calculate its radius on the navigation line.

[0129] (7) Limit the speed of the vehicle based on the radius. According to the radius of the vehicle on the navigation line, find the corresponding maximum speed limit value from the preset speed limit standards. Adjust the speed of the vehicle so that it does not exceed the maximum speed limit value found.

[0130] Through the above steps, the vehicle does not rely on high-precision maps, but only needs a simple navigation map. The demand for high-performance perception systems is reduced, and vehicle-mounted perception systems (such as cameras and millimeter-wave radars) can be used. The safety and comfort of autonomous driving vehicles in complex road environments are improved. The vehicle can actively reduce speed when autonomously entering or exiting ramps, improving driving safety.

[0131] The protection scope of the intelligent speed limit method based on the navigation line described in the embodiment of the present invention is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present invention are included in the protection scope of the present invention.

[0132] An embodiment of the present invention further provides an intelligent speed limit system based on a navigation line, and the intelligent speed limit system based on a navigation line can implement the intelligent speed limit method based on a navigation line described in the present invention. However, the implementation device of the intelligent speed limit system based on a navigation line described in the present invention includes but is not limited to the structure of the intelligent speed limit system based on a navigation line listed in this embodiment. All structural deformations and replacements of the prior art made according to the principles of the present invention are included in the protection scope of the present invention.

[0133] The embodiment of the present invention also provides a computer-readable storage medium. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by instructing the processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state disk (SSD)), etc.

[0134] An embodiment of the present invention further provides an electronic device, which includes a processor and a memory.

[0135] The memory is used to store computer programs.

[0136] The memory includes: ROM, RAM, disk, USB flash drive, memory card or CD and other media that can store program codes.

[0137] The processor is connected to the memory and is used to execute the computer program stored in the memory so that the electronic device executes the above-mentioned intelligent speed limit method based on the navigation line.

[0138] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0139] like Figure 5As shown, the electronic device of the present invention is in the form of a general computing device. The components of the electronic device may include but are not limited to: one or more processors or processing units 51, a memory 52, and a bus 53 connecting different system components (including the memory 52 and the processing unit 51).

[0140] Bus 53 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0141] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0142] The memory 52 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 521 and / or cache memory 522. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 523 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 not shown, usually called a "hard drive"). Although Figure 5 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 53 via one or more data medium interfaces. The memory 52 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0143] A program / utility 524 having a set (at least one) of program modules 5241 may be stored, for example, in the memory 52, such program modules 5241 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may include an implementation of a network environment. The program modules 5241 generally perform the functions and / or methods of the embodiments described herein.

[0144] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, displays, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via input / output (I / O) interface 54. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapter 55. Figure 5 As shown, the network adapter 55 communicates with other modules of the electronic device via the bus 53. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0145] like Figure 6 As shown, in one embodiment, the navigation line-based intelligent speed limit system of the present invention includes a first acquisition module 61, a coordinate conversion module 62, a first calculation module 63, a second acquisition module 64, a second calculation module 65, a third calculation module 66 and an intelligent speed limit module 67.

[0146] The first acquisition module 61 is used to acquire navigation line information.

[0147] The coordinate conversion module 62 is connected to the first acquisition module 61 and is used to convert the navigation line information into a coordinate system.

[0148] The first calculation module 63 is connected to the coordinate conversion module 62, and is used to calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information.

[0149] The second acquisition module 64 is connected to the first calculation module 63 and is used to acquire the current position information of the vehicle.

[0150] The second calculation module 65 is connected to the second acquisition module 63 and is used to calculate the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle.

[0151] The third calculation module 66 is connected to the second calculation module 65, and is used to calculate the radius of the vehicle on the navigation line based on the point interval positioning.

[0152] The intelligent speed limiting module 67 is connected to the third calculation module 66 and is used to limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

[0153] In the several embodiments provided by the present invention, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules / units is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules or units, which can be electrical, mechanical or other forms.

[0154] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention. For example, the functional modules / units in the various embodiments of the present invention may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0155] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0156] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An intelligent speed limit method based on a navigation line, characterized in that: The method comprises the following steps: Get navigation line information; Convert the navigation line information into a coordinate system; Calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information; Get the vehicle's current location information; Calculate the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle; Calculating the radius of the vehicle on the navigation line based on the point interval positioning; The speed of the vehicle is limited based on the radius of the vehicle on the navigation line.

2. The intelligent speed limiting method based on the navigation line according to claim 1 is characterized in that: The navigation line information is obtained through the middleware, and the navigation line information is sent to the vehicle control terminal based on the TCP / IP protocol.

3. The intelligent speed limiting method based on the navigation line according to claim 1 is characterized in that: The longitude and latitude coordinates of the discrete points of the navigation line are converted into northeast celestial ground coordinates.

4. The intelligent speed limiting method based on the navigation line according to claim 1 is characterized in that: Calculating the radius corresponding to any discrete point of the navigation line based on the converted navigation line information includes the following steps: Select a discrete point on the navigation line at random, and select two more discrete points based on the discrete point to form a triangle; The radius corresponding to the discrete point is obtained based on the side length and area of ​​the triangle, until the radius of each discrete point on the entire navigation line is obtained.

5. The intelligent speed limiting method based on the navigation line according to claim 1 is characterized in that: The formula for calculating the distance of any discrete point on the navigation line relative to the navigation starting point is as follows: Among them, S i represents the distance of the i-th discrete point of the navigation line relative to the navigation starting point, P i (x i ,y i ) is represented as a discrete point P i The coordinates of P i-1 (x i-1 ,y i-1 ) is represented as a discrete point P i At a point P on the navigation line i-1 The coordinates of S i-1 Indicates the distance of the i-1th discrete point of the navigation line relative to the navigation starting point.

6. The intelligent speed limiting method based on the navigation line according to claim 1 is characterized in that: Calculating the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle comprises the following steps: Select three discrete points on the navigation line that are closest to the current vehicle position; Defining the navigation line as a first section and a second section based on the selected discrete points; Calculating the foot of the perpendicularity between the current vehicle position on the first road section and the second road section; Determine the road section where the vehicle is located based on the vertical foot calculation result; The point interval positioning of the vehicle on the navigation line is calculated based on the road section.

7. The intelligent speed limiting method based on the navigation line according to claim 6 is characterized in that: The radius of the vehicle on the navigation line is calculated based on the point interval positioning using the following formula: Among them, R v Represents the radius of the vehicle on the navigation line, R e , R s Indicates the radius corresponding to the current position of the vehicle, S e , S e It indicates the distance between the vehicle's current position and the navigation starting point, and S indicates the distance between the vehicle's vertical foot and the navigation starting point.

8. An intelligent speed limit system based on a navigation line, characterized in that: The system includes a first acquisition module, a coordinate conversion module, a first calculation module, a second acquisition module, a second calculation module, a third calculation module and an intelligent speed limit module; The first acquisition module is used to acquire navigation line information; The coordinate conversion module is used to convert the navigation line information into a coordinate system; The first calculation module is used to calculate the radius corresponding to any discrete point of the navigation line and the distance relative to the navigation starting point based on the converted navigation line information; The second acquisition module is used to acquire the current position information of the vehicle; The second calculation module is used to calculate the point interval positioning of the vehicle on the navigation line based on the current position information of the vehicle; The third calculation module is used to calculate the radius of the vehicle on the navigation line based on the point interval positioning; The intelligent speed limit module is used to limit the speed of the vehicle based on the radius of the vehicle on the navigation line.

9. An electronic device, characterized in that: The electronic device comprises: a processor and a memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory so that the electronic device executes the intelligent speed limit method based on the navigation line according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by an electronic device, the intelligent speed limit method based on the navigation line described in any one of claims 1 to 7 is implemented.

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