Intelligent speed limiting methods, systems, storage media, and electronic devices based on navigation lines

Abstract

This invention provides a navigation-line-based intelligent speed limiting method, system, storage medium, and electronic device. The method includes the following steps: acquiring navigation line information; performing coordinate system transformation on the navigation line information; calculating the radius corresponding to any discrete point on the navigation line and its distance relative to the navigation starting point based on the transformed navigation line information; acquiring the vehicle's current position information; calculating the vehicle's point interval positioning on the navigation line based on the vehicle's current position information; calculating the vehicle's radius on the navigation line based on the point interval positioning; and limiting the vehicle's speed based on the vehicle's radius on the navigation line. This invention's navigation-line-based intelligent speed limiting method, system, storage medium, and electronic device enable intelligent speed limiting that improves a vehicle's cornering ability even without a high-precision map, relying solely on a navigation map and an onboard perception system.

Description

Technical Field

[0001] This invention belongs to the technical field of autonomous driving, and in particular relates to an intelligent speed limiting method, system, storage medium and electronic device based on navigation lines. Background Technology

[0002] With the continuous development of the global automotive industry, vehicle electrification and intelligentization technologies have become important industry trends. As one of the core technologies of intelligent vehicles, the development level of automated driving assistance systems directly affects the performance and safety of intelligent vehicles. Among these systems, intelligent speed limiting capability is a key component, enabling vehicles to automatically adjust their speed under different road conditions to ensure driving safety.

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

[0004] While existing intelligent speed limiting technologies have played a significant role in improving driving safety, they also have some obvious drawbacks. First, updating and maintaining high-precision maps is costly, and up-to-date map data may not be available in some areas. Second, the cost of high-performance perception systems is also relatively high, increasing the difficulty of commercializing automated driving assistance systems. Furthermore, these systems are highly dependent on environmental conditions; for example, adverse weather conditions may affect sensor performance, thereby reducing the accuracy and reliability of intelligent speed limiting.

[0005] While existing intelligent speed limiting technologies meet the needs of automated driving assistance systems to some extent, their high cost and dependence on environmental conditions remain major factors restricting their widespread application. Therefore, developing a more cost-effective and adaptable intelligent speed limiting solution is key to the future development of automated driving assistance technologies. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an intelligent speed limiting method, system, storage medium and electronic device based on navigation lines, which enables vehicles to improve their cornering ability without relying on high-precision maps, but only on navigation maps and on-board perception systems (cameras and millimeter-wave radar), effectively improving the safety and comfort of autonomous vehicles in complex road environments.

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

[0008] Perform coordinate system transformation on the navigation line information;

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

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

[0011] The vehicle's current location information is used to calculate the point-range positioning of the vehicle on the navigation line;

[0012] The radius of the vehicle on the navigation line is calculated based on the point interval positioning.

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

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

[0015] In one implementation of the first aspect, the latitude and longitude coordinates of the discrete points of the navigation line are converted into northeast-northeast terrestrial coordinates.

[0016] In one 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 an arbitrary discrete point on the navigation line, and then 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 one implementation of the first aspect, the formula for calculating the distance of any discrete point on the navigation line relative to the navigation starting point is as follows:

[0020]

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

[0022] In one implementation of the first aspect, calculating the point-interval positioning of the vehicle on the navigation line based on the vehicle's current location information includes the following steps:

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

[0024] The navigation line is defined as a first segment and a second segment based on the selected discrete points;

[0025] Calculate the perpendiculars of the current vehicle position to the first road segment and the second road segment;

[0026] The location of the vehicle is determined based on the perpendicular calculation results;

[0027] The vehicle's point-to-point positioning on the navigation line is calculated based on the road segment.

[0028] In one 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 R represents the radius of the vehicle on the navigation line. e R s S represents the radius corresponding to the vehicle's current position. e S s This represents the distance of the vehicle's current position relative to the navigation starting point, where S represents the distance of the vehicle's perpendicular foot to the navigation starting point.

[0031] Secondly, the present invention provides an intelligent speed limiting system based on navigation lines, the system comprising a first acquisition module, a coordinate transformation module, a first calculation module, a second acquisition module, a second calculation module, a third calculation module, and an intelligent speed limiting module;

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

[0033] The coordinate transformation module is used to transform 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 vehicle's current location information;

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

[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] Thirdly, 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 to cause the electronic device to perform the above-described intelligent speed limiting method based on navigation lines.

[0042] Fourthly, 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-described intelligent speed limiting method based on navigation lines.

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

[0044] The intelligent speed limiting method, system, storage medium, and electronic device based on navigation lines described in this invention provide an intelligent speed limiting method that improves a vehicle's cornering ability by relying solely on a navigation map and an onboard perception system, even in the absence of a high-precision map. Its beneficial effects are mainly reflected in the following aspects:

[0045] First, this invention simplifies the reliance on high-precision maps: traditional autonomous driving and advanced driver assistance systems often depend on high-precision maps to provide accurate road information, including radii of curvature and speed limits. The method of this invention achieves intelligent speed limiting even without high-precision maps by using simple navigation maps and onboard perception systems, greatly simplifying the system's dependence on map accuracy.

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

[0047] Furthermore, this invention features an intelligent dynamic speed limiting strategy: it can dynamically adjust the vehicle's speed based on the vehicle's position and radius on the navigation line. This intelligent speed limiting method based on the navigation line allows the vehicle to adjust according to actual road conditions, thereby improving driving safety and comfort.

[0048] Finally, this invention enables safety and comfort in complex road environments: In complex road environments, such as ramps and curves, vehicle speed needs to be adjusted according to the road's curvature radius and speed limits. This invention can accurately calculate the vehicle's position and radius on the navigation line and dynamically limit the vehicle's speed based on this information, thereby achieving safety and comfort in complex road environments. Attached Figure Description

[0049] Figure 1 The flowchart shown is an embodiment of the intelligent speed limiting method based on navigation lines of the present invention.

[0050] Figure 2a The flowchart shown is an embodiment of the navigation line information acquisition method of the present invention.

[0051] Figure 2b The diagram shown is a schematic diagram of the navigation line information acquisition method in one embodiment of the present invention;

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

[0053] Figure 4 The diagram shown is a simplified flowchart of one embodiment of the intelligent speed limiting method based on navigation lines of the present invention.

[0054] Figure 5 The diagram shown is a structural schematic of the electronic device of the present invention in one embodiment;

[0055] Figure 6 The diagram shown is a structural schematic of an embodiment of the intelligent speed limiting system based on navigation lines of the present invention. Detailed Implementation

[0056] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0057] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0058] The technical solutions of the present invention will now be described in detail with reference to the accompanying drawings.

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

[0060] Step S11: Obtain navigation line information.

[0061] Specifically, such as Figures 2a to 2b As shown, the navigation line information is obtained through middleware and sent to the vehicle control terminal based on the TCP / IP protocol. Middleware plays a crucial role in the vehicle navigation system; as a software layer, it acts as an abstraction layer between the operating system and services, handling communication between the vehicle control terminal and the navigation system. The following are the detailed steps for obtaining navigation line information and sending it to the vehicle control terminal via the TCP / IP protocol:

[0062] Step S111: Initial Acquisition of Navigation Line Information. The middleware first needs to obtain navigation line information from the navigation system or map service. This information typically includes a series of coordinate points representing the predetermined driving route, as well as possible road attributes such as curve radius, gradient, speed limits, etc. The navigation information sources involved in this invention include, but are not limited to, in-vehicle navigation systems. Similar sources include mobile phone navigation, iPad navigation, etc.

[0063] Step S112: Processing and Encapsulating Data. Once the navigation line information is acquired, the middleware processes this data, converting it into a format that the vehicle control system can understand and use. This involves data parsing, filtering, formatting, or compression.

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

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

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

[0067] Sending: The serialized data is sent to the vehicle control terminal via a TCP socket.

[0068] Confirmation: Wait for confirmation from the vehicle control unit that the data has been received to ensure the reliability of the transmission.

[0069] Step S115: Reception and Processing at the Vehicle Receiver. After receiving the navigation line information, the vehicle control unit will parse and process it. This information will be used to guide the vehicle's driving, including speed adjustment and direction control.

[0070] Communication between the middleware and the vehicle control unit is continuous. The middleware needs to monitor the connection status, ensure continuous data transmission, and re-establish the connection when necessary. The vehicle control unit may send feedback to the middleware based on received navigation line information and the vehicle's real-time status. The middleware makes corresponding adjustments based on this feedback, such as updating navigation line information and adjusting the data transmission frequency. Through this process, the middleware ensures that the vehicle can be precisely controlled based on 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, suitable for vehicle control systems with high requirements for data integrity and transmission reliability.

[0071] Step S12: Perform coordinate system transformation on the navigation line information.

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

[0073] The Northeast-Sky coordinate system is a local Cartesian coordinate system, typically used to describe the position of a point relative to a reference point. "North" points towards the Earth's North Pole, "East" points towards the Earth's eastern edge, and "Sky" points towards the Earth's center. The specific conversion steps are as follows:

[0074] Step S121: Determine the reference point. Select a reference point whose latitude and longitude coordinates will be used as the basis for the transformation. Typically, this reference point can be the starting point of the navigation line or any fixed point.

[0075] Step S122: Calculate the origin of the reference point in the North-East-Centered (NEC) coordinate system. Using the latitude and longitude coordinates of the reference point, convert them to coordinates in the Earth-Centered, Earth-Fixed (ECEF) coordinate system. Then, convert the ECEF coordinates to coordinates in the NECEF coordinate system; this will serve as the origin for transforming other points.

[0076] Step S123: Convert latitude and longitude to ECEF coordinates. For each discrete point, first convert its latitude and longitude coordinates to ECEF coordinates. This typically involves: calculating the Earth's radius at a given latitude; and then calculating the ECEF coordinates using the latitude, longitude, and Earth's radius.

[0077] Step S124: Transformation from ECEF to Northeast-Eastern Sky Coordinates. Calculate the difference between the reference point's ECEF coordinates and the point to be transformed's ECEF coordinates. Apply a rotation matrix to transform the difference from the ECEF coordinate system to the Northeast-Eastern Sky Coordinate system.

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

[0079] Step S13: Calculate the radius of any discrete point on the navigation line and its 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 on the navigation line to NED (Northeast-Eastern Sky) ground coordinates, the radius and distance relative to the navigation starting point are calculated based on this converted information. The radius of a discrete point on the navigation line refers to the vertical distance from the centerline of the navigation line to the discrete point. In the case of curved navigation lines, this radius may vary with location. The radius of the discrete point helps determine if the vehicle has deviated from the intended navigation path. If the vehicle remains within the radius of the navigation line, it is considered to be traveling on the correct path. The distance of a discrete point on the navigation line relative to the navigation starting point is the straight-line distance from the navigation starting point to the current discrete point. This distance helps determine the vehicle's position on the navigation line. By comparing the vehicle's actual position with the expected position on the navigation line, the vehicle's specific position 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 navigation line, the vehicle's exact position on the navigation line can be determined. For example, if the radius between the vehicle and the navigation line is small, it is likely on the navigation line. If the vehicle deviates from the navigation line, its heading can be adjusted by calculating its relative position to the navigation line, guiding it back to the correct path. In autonomous driving or precise navigation systems, knowing the vehicle's specific position relative to the navigation line is crucial for tracking a predetermined path. This involves continuously calculating the relationship between the vehicle's position and the navigation 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 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 an arbitrary discrete point on the navigation line, and then 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, discrete point P on the navigation line is calculated. i The corresponding radius R i The steps are as follows:

[0086] Step S131: Form a triangle. (Example) Figure 3 As shown, select P on the navigation line. i For each discrete point on the navigation line, take two more discrete points at intervals from the first point to form a triangle. The three points of the triangle are denoted as P1(x1, y1), P2(x2, y2), and P3(x3, y3). When calculating the radius of the discrete points on the navigation line, the three selected points can be three adjacent points, three points of equal distance, or three points separated by the same number of intermediate points.

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

[0088]

[0089] p = 0.5 × (a + b + c)

[0090] Where a, b, and 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 circumcircle radius. Calculate the radius R of the circumcircle based on the area and side length of the triangle. This radius is considered the "range of influence" of the triangle's center point. The calculation formula is as follows:

[0092]

[0093] Step S134: Determine the radius of the discrete points. Assign R to the selected discrete points: thus, each discrete point is assigned a corresponding radius. This is used for further path planning or navigation decisions.

[0094] Calculate discrete point P on the navigation line i (x i ,y i The distance S relative to the navigation starting point P0(x0,y0) is calculated in steps. iThe formula is as follows:

[0095]

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

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

[0098] By combining data from different sensors, sensor fusion technology can be used to obtain more accurate and reliable vehicle location information.

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

[0100] A point interval refers to the specific segment on the navigation line where a vehicle is located. This can be a predefined interval or a dynamically determined interval based on the vehicle's current position. By determining the point interval where the vehicle is located, we can know the characteristics of the road segment the vehicle is about to enter, such as curves, slopes, and intersections. This information is crucial for setting speed limits. For example, near curves or intersections, the speed limit 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 a vehicle on the navigation line refers to the perpendicular distance between the vehicle and the centerline of the navigation line. This radius reflects the degree of deviation from the navigation line. If the vehicle deviates significantly from the navigation line, it may indicate that it is traveling too fast on the curve and needs to reduce its speed to avoid loss of control or an accident.

[0103] Calculating the vehicle's point-to-interval positioning on the navigation line based on the vehicle's current location information includes the following steps:

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

[0105] The navigation line is defined as a first segment and a second segment based on the selected discrete points;

[0106] Calculate the perpendiculars of the current vehicle position to the first road segment and the second road segment;

[0107] The location of the vehicle is determined based on the perpendicular calculation results;

[0108] The vehicle's point-to-point positioning on the navigation line is calculated based on the road segment.

[0109] In one embodiment, the calculation of the vehicle's position within a point interval on the navigation line is performed using the following steps:

[0110] Step S161: Select nearest neighbor points. Select three discrete points closest to the vehicle's current location, denoted as C1, C2, and C3. These three points will be used to determine the specific road segment and location of the vehicle.

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

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

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

[0114] Calculating the point interval helps determine the vehicle's specific position on the navigation line, while calculating the radius helps determine the vehicle's lateral position relative to the navigation line. Combining both provides a more accurate description of the vehicle's three-dimensional position on the navigation line. In autonomous driving or navigation systems, determining the vehicle's point interval helps plan the subsequent driving path, while calculating the radius helps adjust the vehicle's lateral control to ensure the vehicle accurately follows the navigation line. If the vehicle's point interval on the navigation line changes (e.g., from a straight section to a curve), the vehicle may need to adjust its speed and direction. In this case, calculating the radius can help the vehicle control system make appropriate adjustments, such as reducing speed to safely navigate the curve. If the vehicle's radius exceeds a predetermined threshold, it indicates that the vehicle may have deviated from the navigation line, requiring corrective measures such as steering adjustments.

[0115] Therefore, the vehicle's speed limit can be dynamically adjusted based on the vehicle's position and radius on the navigation line. For example, if a vehicle approaches a curve and its radius indicates it may be on the outside of the curve, the system may reduce the speed limit to prevent skidding or rollover. Different road sections may have different speed limits. 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 can adjust the vehicle's speed based on its position and radius on the navigation line, providing a safer driving experience. In inclement weather or road conditions, the vehicle may need to reduce its speed. By calculating the vehicle's position and radius on the navigation line in real time, it can better adapt to changes in road conditions. Calculating the vehicle's position and radius on the navigation line based on its current location information is a crucial part of intelligent transportation systems and autonomous driving technologies. These are closely related to the setting of vehicle speed limits, jointly ensuring driving safety, compliance with traffic rules, and improved driving efficiency.

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

[0117] In one embodiment, the vehicle's current location P v The interval of points is (P) s P e ), obtain the starting point P of the interval. s The corresponding radius R s The endpoint of the interval R e The corresponding radius R e Then obtain the starting point P of the interval. s The corresponding distance S s The endpoint of the interval P e The corresponding distance S e Further calculate the foot of the perpendicular P.f and P f The radius R corresponding to the navigation line v The formula is as follows:

[0118]

[0119] Among them, R v R represents the radius of the vehicle on the navigation line. e R s S represents the radius corresponding to the vehicle's current position. e S s This represents the distance of the vehicle's current position relative to the navigation starting point, where S represents the distance of the vehicle's perpendicular foot to the navigation starting point.

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

[0121] The system retrieves the corresponding maximum speed limit from a preset speed limit standard based on the vehicle's current radius and adjusts the vehicle's speed accordingly. In one embodiment, a preset speed limit standard is used, such as a speed limit of 40 km / h for a radius of 100m and 50 km / h for a radius of 200m. This standard is obtained through actual road testing and calibration. The speed limit formula can be represented by V = f(R). The expression of the function f(R) is obtained through actual calibration. The function f(R) can be a piecewise function, with each radius interval corresponding to a speed limit value. The system retrieves the speed limit value corresponding to the current radius; different radii correspond to different speed limits, and some filtering is performed between different speed limits to ensure smooth speed. If the vehicle's current speed is higher than the retrieved speed limit value, it needs to decelerate. If the vehicle's current speed is lower than the speed limit value, it can maintain the current speed or accelerate appropriately according to other traffic conditions.

[0122] In one embodiment, such as Figure 4 As shown, in the absence of high-precision maps, the intelligent speed limiting method for improving a vehicle's cornering ability using navigation maps and onboard perception systems includes the following steps:

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

[0124] (2) Coordinate system transformation. Convert the navigation line information from latitude and longitude coordinates to northeast-northeast terrestrial coordinates.

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

[0126] (4) Calculate the distance between 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 from the starting point of the navigation line.

[0127] (5) Calculate the point interval where the vehicle is located on the navigation line. Based on the vehicle's current location information, determine the specific point interval where the vehicle is located on the navigation line.

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

[0129] (7) Limit vehicle speed based on radius. Based on the vehicle's radius on the navigation line, find the corresponding maximum speed limit from the preset speed limit standards. Adjust the vehicle's speed to ensure it does not exceed the found maximum speed limit.

[0130] The above steps enable vehicles to operate without relying on high-precision maps, requiring only simple navigation maps. This reduces the need for high-performance perception systems, allowing the use of onboard perception systems (such as cameras and millimeter-wave radar). It also improves the safety and comfort of autonomous vehicles in complex road environments. Furthermore, it enables vehicles to actively reduce speed when autonomously entering and exiting ramps, enhancing driving safety.

[0131] The scope of protection of the intelligent speed limiting method based on navigation lines described in this embodiment is not limited to the execution order of the steps listed in this embodiment. Any solution implemented by adding, subtracting, or replacing steps in the prior art based on the principles of this invention is included within the scope of protection of this invention.

[0132] This invention also provides a navigation-line-based intelligent speed limiting system. The navigation-line-based intelligent speed limiting system can implement the navigation-line-based intelligent speed limiting method described in this invention. However, the implementation device of the navigation-line-based intelligent speed limiting system described in this invention includes, but is not limited to, the structure of the navigation-line-based intelligent speed limiting system listed in this embodiment. All structural modifications and substitutions of the prior art made according to the principles of this invention are included within the protection scope of this invention.

[0133] This invention also provides a computer-readable storage medium. Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing a processor. The program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disk, and any combination thereof. The storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. This available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid-state drive (SSD)).

[0134] This invention also provides an electronic device. The electronic device includes a processor and a memory.

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

[0136] The memory includes various media capable of storing program code, such as ROM, RAM, magnetic disk, USB flash drive, memory card, or optical disk.

[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 performs the above-described intelligent speed limiting method based on navigation lines.

[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 gate or transistor logic devices, or discrete hardware components.

[0139] like Figure 5As shown, the electronic device of the present invention is embodied in the form of a general-purpose 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 bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

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

[0142] 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, storage system 523 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 5 Not shown; usually referred to as 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, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 53 via one or more data media interfaces. Memory 52 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the 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 memory 52. ​​Such program modules 5241 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 5241 typically perform the functions and / or methods described in the embodiments of the present invention.

[0144] The electronic device can also communicate with one or more external devices (e.g., keyboard, pointing device, display, 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 interface card, modem, etc.). This communication can be performed through input / output (I / O) interface 54. Furthermore, the electronic device can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 55. Figure 5 As shown, network adapter 55 communicates with other modules of the electronic device via 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 intelligent speed limiting system based on navigation lines of the present invention includes a first acquisition module 61, a coordinate transformation 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 limiting module 67.

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

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

[0148] The first calculation module 63 is connected to the coordinate transformation 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 transformed navigation line information.

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

[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 limit 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 embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, or methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of apparatuses or modules or units may be electrical, mechanical, or other forms.

[0154] The modules / units described as separate components may or may not be physically separate. The components shown as modules / units may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules / units can be selected to achieve the objectives of the embodiments of the present invention, depending on actual needs. 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 skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0156] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can 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 those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A smart speed limiting method based on navigation lines, characterized in that, The method includes the following steps: Obtain navigation line information, wherein the navigation line information is obtained through middleware and sent to the vehicle control terminal based on TCP / IP protocol, wherein the navigation line information is derived from a navigation map, and wherein the navigation map is a non-high-precision map; The coordinate system transformation of the navigation line information specifically includes: determining a reference point, calculating the origin of the northeast-sky coordinate system of the reference point, transforming the latitude and longitude coordinates of the reference point to ECEF coordinates, and transforming the ECEF coordinates to northeast-sky ground coordinates; Based on the converted navigation line information, the radius corresponding to any discrete point on the navigation line and its distance relative to the navigation starting point are calculated. The calculation of the radius corresponding to any discrete point on the navigation line based on the converted navigation line information includes: arbitrarily selecting a discrete point on the navigation line, and then selecting two more discrete points to form a triangle; obtaining the radius of the circumcircle corresponding to the discrete point based on the side length and area of ​​the triangle, until the radius of each discrete point on the entire navigation line is obtained. Obtain the vehicle's current location information; Calculating the vehicle's point-interval positioning on the navigation line based on the vehicle's current location information specifically includes: selecting three discrete points on the navigation line closest to the current vehicle position; defining the navigation line as a first road segment and a second road segment based on the selected discrete points; calculating the perpendiculars of the current vehicle position to the first road segment and the second road segment; determining the road segment where the vehicle is located based on the perpendicular calculation results; and calculating the vehicle's point-interval positioning on the navigation line based on the road segment. The radius of the vehicle on the navigation line is calculated based on the point interval positioning, specifically including: the radius of the vehicle on the navigation line is calculated using the following formula: Among them, R v R represents the radius of the vehicle on the navigation line. e R s S represents the radius corresponding to the vehicle's current position. e S s This represents the distance of the vehicle's current position relative to the navigation starting point, where S represents the distance of the vehicle's perpendicular foot to the navigation starting point. The vehicle's speed is limited based on the radius of the vehicle on the navigation line.

2. The intelligent speed limiting method based on navigation lines according to claim 1, 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 P represents the distance of the i-th discrete point on the navigation line relative to the navigation starting point. i (x i ,y i ) is represented as discrete point P i The coordinates of P i-1 (x i-1 ,y i-1 ) is represented as discrete point P i Point P above the navigation line i-1 The coordinates of S i-1 This represents the distance of the (i-1)th discrete point of the navigation line relative to the navigation starting point.

3. An intelligent speed limiting system based on navigation lines, characterized in that, The system includes a first acquisition module, a coordinate transformation module, a first calculation module, a second acquisition module, a second calculation module, a third calculation module, and an intelligent speed limiting module; The first acquisition module is used to acquire navigation line information, wherein the navigation line information is acquired through middleware and sent to the vehicle control terminal based on the TCP / IP protocol, wherein the navigation line information is derived from a navigation map, wherein the navigation map is a non-high-precision map; The coordinate transformation module is used to transform the navigation line information into coordinate systems, specifically including: determining a reference point, calculating the origin of the northeast-sky coordinate system of the reference point, transforming the latitude and longitude coordinates of the reference point into ECEF coordinates, and transforming the ECEF coordinates into northeast-sky ground coordinates; The first calculation module is used to calculate the radius of any discrete point on the navigation line and its distance relative to the navigation starting point based on the converted navigation line information. The calculation of the radius of any discrete point on the navigation line based on the converted navigation line information includes: arbitrarily selecting a discrete point on the navigation line, selecting two more discrete points based on the discrete point to form a triangle; obtaining the radius of the circumcircle corresponding to the discrete point based on the side length and area of ​​the triangle, until the radius of each discrete point on the entire navigation line is obtained. The second acquisition module is used to acquire the vehicle's current location information; The second calculation module is used to calculate the point interval positioning of the vehicle on the navigation line based on the vehicle's current location information. Specifically, it includes: selecting three discrete points on the navigation line that are closest to the current vehicle position; defining the navigation line as a first road segment and a second road segment based on the selected discrete points; calculating the perpendiculars of the current vehicle position to the first road segment and the second road segment; determining the road segment where the vehicle is located based on the perpendicular calculation result; and calculating the point interval positioning of the vehicle on the navigation line based on the road segment. The third calculation module is used to calculate the radius of the vehicle on the navigation line based on the point interval positioning, specifically including: calculating the radius of the vehicle on the navigation line based on the point interval positioning using the following formula: Among them, R v R represents the radius of the vehicle on the navigation line. e R s S represents the radius corresponding to the vehicle's current position. e S s This represents the distance of the vehicle's current position relative to the navigation starting point, where S represents the distance of the vehicle's perpendicular foot to the navigation starting point. 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.

4. An electronic device, characterized in that, The electronic device includes: a processor and a memory; The memory is used to store computer programs; The processor is configured to execute the computer program stored in the memory to cause the electronic device to perform the intelligent speed limiting method based on navigation lines as described in any one of claims 1 to 2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by an electronic device, the program implements the intelligent speed limiting method based on navigation lines as described in any one of claims 1 to 2.

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