Vehicle control method, device and equipment and storage medium

Abstract

The invention provides a vehicle control method and device, equipment and a storage medium. The vehicle control method comprises the steps that at least two speed limit values are determined; determining a target speed limit value based on the at least two speed limit values; and controlling the speed of the vehicle based on the target speed limit value. The method is used for solving the problem of unreasonable vehicle speed limiting.

Description

Technical Field

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

[0002] With the development of intelligent driving, vehicles can realize functions such as autonomous lane changing, autonomous on- and off-ramps, and autonomous switching to highways under high-speed elevated conditions by being equipped with high-performance sensors such as lidar, millimeter-wave radar, high-definition cameras, surround-view cameras, etc.

[0003] At present, vehicle speed limits are mostly achieved through simple map speed limits or camera speed limits. There are many unreasonable speed limits, which lead to frequent unreasonable speed limits in main roads, ramps and other scenes, affecting the driving experience. Summary of the invention

[0004] The present application provides a vehicle control method, device, equipment and storage medium to solve the problem of unreasonable vehicle speed limit.

[0005] According to a first aspect of an embodiment of the present application, a vehicle control method is provided, comprising:

[0006] Determine at least two speed limit values;

[0007] Determining a target speed limit value based on the at least two speed limit values;

[0008] The speed of the vehicle is controlled based on the target speed limit value.

[0009] Optionally, the speed limit value includes a traffic speed limit value;

[0010] The determining of at least two speed limit values ​​comprises:

[0011] Obtaining speed values ​​of each target vehicle in a preset area where the vehicle is located;

[0012] Determining a traffic flow speed value based on the speed value of each of the target vehicles;

[0013] When the traffic speed value is greater than the current road speed limit value, the traffic speed value is determined as the traffic speed limit value.

[0014] Optionally, the speed limit value includes an empirical speed limit value; the empirical speed limit value is determined based on historical driving speed values ​​of each vehicle on the current road.

[0015] Optionally, the speed limit value includes a ramp speed limit value;

[0016] The determining of at least two speed limit values ​​comprises:

[0017] In the case where it is determined that the vehicle is about to pass through a ramp, determining a speed value of the vehicle passing through the ramp based on a current speed value of the vehicle and a current road curvature;

[0018] Based on the speed value of the vehicle passing through the ramp, the ramp speed limit value is determined from the ramp speed limit sign speed limit value and the map speed limit value.

[0019] Optionally, the speed limit value includes a traffic speed limit value, an experience speed limit value, a ramp speed limit value and a driver set value;

[0020] The determining the target speed limit value based on the at least two speed limit values ​​includes:

[0021] Determine a first comprehensive speed limit value based on the traffic speed limit value, the empirical speed limit value and the ramp speed limit value; wherein the priority of the traffic speed limit value is greater than the priority of the empirical speed limit value, and the priority of the empirical speed limit value is greater than the priority of the ramp speed limit value;

[0022] A target speed limit value is determined based on the driver setting value and the first integrated speed limit value.

[0023] Optionally, the driver set value includes a current speed limit value set by the driver, a speed limit value set by the driver in history, and a speed limit value set by the driver after an offset; the speed limit value set by the driver after an offset is determined based on the speed limit offset value set by the driver and the current road speed limit value;

[0024] The determining of the target speed limit value based on the driver setting value and the first comprehensive speed limit value comprises:

[0025] Determine the minimum value between the historical speed limit set by the driver and the offset road speed limit set by the driver as the second comprehensive speed limit;

[0026] A target speed limit value is determined based on the current speed limit value set by the driver, the first comprehensive speed limit value, and the second comprehensive speed limit value.

[0027] Optionally, determining the target speed limit value based on the speed limit value currently set by the driver, the first comprehensive speed limit value, and the second comprehensive speed limit value includes:

[0028] The maximum value among the speed limit value currently set by the driver, the first comprehensive speed limit value and the second comprehensive speed limit value is determined as the target speed limit value.

[0029] According to a second aspect of an embodiment of the present application, a vehicle control device is provided, comprising:

[0030] A first processing unit, configured to determine at least two speed limit values;

[0031] A second processing unit, configured to determine a target speed limit value based on the at least two speed limit values;

[0032] The control unit is used to control the speed of the vehicle based on the target speed limit value.

[0033] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including a memory and a processor;

[0034] The memory is connected to the processor and is used to store programs;

[0035] The processor is used to implement the vehicle control method as described in the first aspect by running the program in the memory.

[0036] According to a fourth aspect of an embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method as described in the first aspect is implemented.

[0037] In the present application, at least two speed limit values ​​are determined, and based on the at least two speed limit values, a target speed limit value is determined, and based on the target speed limit value, the speed of the vehicle is controlled. Comprehensively considering at least two speed limit values, the current optimal target speed limit value is finally determined based on the actual scenario, which ensures the rationality of the target speed limit value, avoids the abnormal acceleration and deceleration problems caused by inaccurate speed limit, unreasonable speed limit, speed limit jump, etc. caused by using a single speed limit value, and solves the problem of unreasonable vehicle speed limit. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0039] Figure 1 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of a process of step 101 provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of a vehicle and a target vehicle provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of a process of step 101 provided in an embodiment of the present application;

[0043] Figure 5A schematic diagram of a process of step 102 provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of a process of step 502 provided in an embodiment of the present application;

[0045] Figure 7 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0046] Figure 8 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0047] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] Exemplary Implementation Environment

[0050] The vehicle control method according to the embodiment of the present application can be executed by an electronic device such as a terminal device or a server. The terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be an independent physical server, a server cluster composed of multiple physical servers, or a cloud server capable of cloud computing. The method can be implemented by a processor calling a computer-readable program instruction stored in a memory. In this application, the vehicle control method is explained by an example of being executed by a vehicle-mounted device, but it is not limited to this.

[0051] Exemplary Methods

[0052] See also Figure 1 In an exemplary embodiment, a vehicle control method is provided. Figure 1 As shown, the process of the vehicle control method mainly includes:

[0053] Step 101, determining at least two speed limit values.

[0054] In some embodiments, the speed limit value includes a traffic speed limit value.

[0055] In an exemplary embodiment, the traffic speed limit value is determined based on the speed values ​​of each target vehicle in a preset area where the vehicle is located. That is, the traffic speed limit value is determined based on the current surrounding traffic speed value of the vehicle.

[0056] In some embodiments, Figure 2 As shown, step 101 includes:

[0057] Step 201, obtaining the speed value of each target vehicle in a preset area where the vehicle is located.

[0058] In an exemplary embodiment, the preset area where the vehicle is located may refer to the inner area of ​​a circle with the current position of the vehicle as the center and a preset distance as the radius; the preset area where the vehicle is located may also be a polygonal fence drawn, the current position of the vehicle is inside the polygonal fence, and the inner area of ​​the polygonal fence is the preset area where the vehicle is located.

[0059] In an exemplary embodiment, the target vehicles may be all vehicles in a preset area where the vehicle is located; the target vehicles may also be the first N vehicles in the preset area where the vehicle is located, sorted in ascending order by distance from the current position of the vehicle.

[0060] In an exemplary embodiment, step 201 may be that the perception system of the vehicle directly detects the speed values ​​of each target vehicle in a preset area where the vehicle is located. For example, for a vehicle equipped with a laser radar, the perception system may detect the speed values ​​of target vehicles within a range of 200-300m around the vehicle.

[0061] Step 202: Determine the traffic flow speed value based on the speed value of each target vehicle.

[0062] In an exemplary embodiment, step 202 may include: determining the average of the speed values ​​of each target vehicle as the average vehicle speed value; when the difference between the average vehicle speed value and the current vehicle speed value of the vehicle is greater than a preset value, determining the average vehicle speed value as the traffic speed value.

[0063] In an exemplary embodiment, the preset value may be a fixed value, or a value obtained by multiplying the current speed of the vehicle by a preset ratio, and the present application does not limit this.

[0064] In an exemplary embodiment, Figure 3 Shown is a schematic diagram of a vehicle and a target vehicle. Figure 3 The ones without numbers are vehicles (i.e., the vehicle itself). Figure 3The target vehicles are marked with numbers 1-11, and there are 11 target vehicles in total. The average speed of the 11 target vehicles closest to the vehicle is determined by the perception system of the vehicle. If the average speed is greater than 10% of the current speed of the vehicle, the average speed is determined as the traffic speed value.

[0065] Step 203: When the vehicle flow speed value is greater than the current road speed limit value, the vehicle flow speed value is determined as the vehicle flow speed limit value.

[0066] In an exemplary embodiment, the current road speed limit value may be a camera speed limit value or a map speed limit value. The camera speed limit value refers to the speed limit value on the road sign. The map speed limit value may be a speed limit value on a high-precision map. This application uses the current road speed limit value as a high-precision map speed limit value as an example for explanation, but does not limit this.

[0067] The speed values ​​of each target vehicle in the preset area where the vehicle is located are obtained, and the traffic speed value is determined based on the speed values ​​of each target vehicle, taking full account of the traffic speed value of the current surrounding environment of the vehicle. When the traffic speed value is greater than the current road speed limit value, the traffic speed value is determined as the traffic speed limit value. The traffic speed value is greater than the current road speed limit value because the current road speed limit value has not been updated and the speed limit is unreasonable. The traffic speed value is determined as the traffic speed limit value, and the target speed limit value is determined based on the traffic speed limit value, which ensures the rationality of the target speed limit value, improves the driving experience, and improves the traffic efficiency.

[0068] In some embodiments, the speed limit value includes an empirical speed limit value; the empirical speed limit value is determined based on historical driving speed values ​​of each vehicle on the current road.

[0069] In an exemplary embodiment, the empirical speed limit value may be an empirical speed limit value of an OEM (Original equipment manufacturer, which may also be referred to as a complete vehicle manufacturer).

[0070] In an exemplary embodiment, the empirical speed limit value can be automatically sent to the vehicle side (i.e., the vehicle-mounted device) through the cloud (i.e., the server), and is specifically used to correct unreasonable speed limits on specific road sections, such as too low tunnel speed limits and too low ramp speed limits. The empirical speed limit value can be obtained through data collection, big data statistics, and manual verification.

[0071] The empirical speed limit value is determined based on the historical driving speed values ​​of each vehicle on the current road. Determining the target speed limit value based on the empirical speed limit value fully considers the historical driving speed values ​​of each vehicle on the current road, ensures the rationality of the target speed limit value, improves the driving experience, and improves traffic efficiency.

[0072] In some embodiments, the speed limit value includes a ramp speed limit value.

[0073] In an exemplary embodiment, the ramp speed limit value is determined based on a speed value of a vehicle passing through the ramp.

[0074] In some embodiments, Figure 4 As shown, step 101 includes:

[0075] Step 401 : when it is determined that the vehicle is about to pass through a ramp, the speed value of the vehicle passing through the ramp is determined based on the current speed value of the vehicle and the current road curvature.

[0076] In an exemplary embodiment, determining that the vehicle is about to pass through a ramp may include that the vehicle is about to exit the ramp, or may include that the vehicle is about to switch to a highway, and the present application is not limited to this.

[0077] In an exemplary embodiment, there is a priori road curvature in the high-precision map, and the current road curvature can be directly obtained from the high-precision map.

[0078] In an exemplary embodiment, the speed value of the vehicle passing through the ramp is determined based on the current speed value of the vehicle and the current road curvature, including: searching for the target cornering acceleration corresponding to the current speed value of the vehicle according to the mapping relationship between the speed value and the cornering acceleration; and determining the speed value of the vehicle passing through the ramp based on the target cornering acceleration and the current road curvature.

[0079] In an exemplary embodiment, the cornering acceleration is a calibrated value, and the cornering acceleration and the speed value are stored in a table, and the target cornering acceleration can be found from the table according to the current speed value of the vehicle.

[0080] In the exemplary embodiment, the specific calculation formula of the speed value of the vehicle passing through the ramp is as follows: a=v 2 / r, where a is the target cornering acceleration, v is the speed of the vehicle passing through the ramp, and r is the radius of the curve, that is, r is the inverse of the current road curvature.

[0081] Step 402 : Based on the speed value of the vehicle passing through the ramp, determine the ramp speed limit from the ramp speed limit sign and the map speed limit.

[0082] In an exemplary embodiment, step 402 may be to determine the speed limit value of the ramp speed limit sign and the map speed limit value, whichever is greater than the speed value of the vehicle passing the ramp, as the ramp speed limit value. If both the ramp speed limit sign and the map speed limit value are greater than the speed value of the vehicle passing the ramp, the maximum value of the ramp speed limit sign and the map speed limit value is determined as the ramp speed limit value.

[0083] When it is determined that the vehicle is about to pass through a ramp, the speed value of the vehicle passing through the ramp is determined based on the vehicle's current speed value and the current road curvature. Based on the speed value of the vehicle passing through the ramp, the ramp speed limit value is determined from the ramp speed limit sign speed limit value and the map speed limit value. The target speed limit value is determined based on the ramp speed limit value. This fully considers the speed value of the vehicle passing through the ramp in the special case of the ramp, thereby ensuring the rationality of the target speed limit value, improving the driving experience, and improving traffic efficiency.

[0084] In some embodiments, the speed limit value comprises a driver set value.

[0085] In an exemplary embodiment, the driver set value may only include the speed limit value currently set by the driver; the driver set value may also only include the speed limit value historically set by the driver and the offset road speed limit value set by the driver, and the offset road speed limit value set by the driver is determined based on the speed limit offset value set by the driver and the current road speed limit value; the driver set value may also include the speed limit value currently set by the driver, the speed limit value historically set by the driver, and the offset road speed limit value set by the driver, and the present application does not impose any restrictions on this.

[0086] In an exemplary embodiment, the speed limit value currently set by the driver can be the longitudinal speed control entered after the speed limit system function of the vehicle-mounted device is activated. The speed limit system of the vehicle-mounted device first determines whether there is an action of the driver setting the vehicle speed. If so, the speed limit value currently set by the driver is obtained.

[0087] In an exemplary embodiment, the speed limit value set by the driver in history may be obtained when the speed limit system function of the vehicle-mounted device is reactivated after being exited. If the speed limit system function of the vehicle-mounted device does not exit and records the current speed limit value set by the driver, the speed limit system of the vehicle-mounted device automatically records the speed limit value set by the driver in the previous cycle after the speed limit system function of the vehicle-mounted device is exited.

[0088] In an exemplary embodiment, the speed limit offset value set by the driver can be directly obtained from the speed limit system of the vehicle-mounted device. The speed limit offset value set by the driver is selected through the driver setting item, and a percentage offset and a numerical offset can be selected, such as 10%, +10, -10, etc.

[0089] In an exemplary embodiment, the current road speed limit value may be a camera speed limit value or a map speed limit value. This application uses the current road speed limit value as a high-precision map speed limit value as an example for explanation, but does not limit this.

[0090] In an exemplary embodiment, the offset road speed limit value set by the driver is determined based on the speed limit offset value set by the driver and the current road speed limit value. For example, when the speed limit offset value set by the driver is a specific offset value, the offset road speed limit value set by the driver may be the result of adding the speed limit offset value set by the driver and the current road speed limit value; when the speed limit offset value set by the driver is an offset ratio, the offset road speed limit value set by the driver may be the result of adding the product of the speed limit offset value set by the driver and the current road speed limit value and the current road speed limit value.

[0091] In an exemplary embodiment, the post-offset road speed limit value set by the driver may be a maximum speed value permitted by laws and regulations.

[0092] Determining the target speed limit based on the driver's set value fully considers the driver's wishes, improves the driving experience, and ensures the rationality of the target speed limit.

[0093] In an exemplary embodiment, the priority of the driver setting value can be set to the highest level among the priorities of various speed limit values. The driver setting value is executed with high priority under the premise of ensuring safety, fully considering the driver's wishes and improving the driving experience.

[0094] In an exemplary embodiment, the at least two speed limit values ​​may include at least two speed limit values ​​selected from the driver's currently set speed limit value, the traffic speed limit value, the experience speed limit value, the ramp speed limit value, the driver's historically set speed limit value, and the offset road speed limit value set by the driver.

[0095] Step 102: determining a target speed limit value based on at least two speed limit values.

[0096] In some embodiments, the speed limit value includes a traffic speed limit value, an experience speed limit value, a ramp speed limit value, and a driver set value.

[0097] like Figure 5 As shown, step 102 includes:

[0098] Step 501, determining a first comprehensive speed limit value based on a traffic speed limit value, an empirical speed limit value, and a ramp speed limit value.

[0099] Among them, the priority of the traffic speed limit value is greater than the priority of the experience speed limit value, and the priority of the experience speed limit value is greater than the priority of the ramp speed limit value.

[0100] In an exemplary embodiment, the first comprehensive speed limit value is determined based on the traffic speed limit value, the experience speed limit value and the ramp speed limit value. The first comprehensive speed limit value is calculated by a structured road speed limit fusion algorithm based on the traffic speed limit value, the experience speed limit value and the ramp speed limit value. The structured road speed limit fusion algorithm makes a judgment based on the prior priorities of the traffic speed limit value, the experience speed limit value and the ramp speed limit value in combination with specific geographical location information. The traffic speed limit value, the experience speed limit value and the ramp speed limit value appear alone in most cases. When they appear alone, they automatically flow down to continue to judge. If the first comprehensive speed limit value is calculated in a special geographical location such as a ramp, a hub, etc., the system will set the priority output. The priority of the traffic speed limit value is greater than the priority of the experience speed limit value, and the priority of the experience speed limit value is greater than the priority of the ramp speed limit value.

[0101] Step 502: Determine a target speed limit value based on the driver setting value and the first comprehensive speed limit value.

[0102] Based on the traffic speed limit value, the experience speed limit value and the ramp speed limit value, a first comprehensive speed limit value is determined, and based on the driver's setting value and the first comprehensive speed limit value, a target speed limit value is determined. The traffic speed limit value, the experience speed limit value, the ramp speed limit value and the driver's setting value are comprehensively considered, the driver's wishes are fully considered, the driving experience is improved, and the current optimal target speed limit value is finally determined based on the actual scenario. The rationality of the target speed limit value is ensured, and abnormal acceleration and deceleration problems caused by inaccurate speed limit, unreasonable speed limit, speed limit jump, etc. caused by using a single speed limit value are avoided, and the problem of unreasonable vehicle speed limit is solved.

[0103] In an exemplary embodiment, determining the target speed limit value based on the driver setting value and the first comprehensive speed limit value may include: determining the maximum value of the driver setting value and the first comprehensive speed limit value as the target speed limit value.

[0104] Determining the maximum value between the driver set value and the first comprehensive speed limit value as the target speed limit value can improve traffic efficiency.

[0105] In some embodiments, the driver set value includes the driver's current set speed limit value, the driver's historical set speed limit value and the driver's set offset road speed limit value; the driver's set offset road speed limit value is determined based on the driver's set speed limit offset value and the current road speed limit value.

[0106] like Figure 6 As shown, step 502 includes:

[0107] Step 601: The minimum value between the historical speed limit set by the driver and the offset road speed limit set by the driver is determined as the second comprehensive speed limit.

[0108] In an exemplary embodiment, the post-offset road speed limit value set by the driver may be a maximum speed value permitted by laws and regulations.

[0109] The minimum value between the speed limit value set by the driver in history and the speed limit value of the road after the offset set by the driver is determined as the second comprehensive speed limit value, which can fully consider the driver's wishes under the premise of meeting the regulations.

[0110] Step 602: Determine a target speed limit value based on the speed limit value currently set by the driver, the first comprehensive speed limit value, and the second comprehensive speed limit value.

[0111] The minimum value between the driver's historically set speed limit and the offset road speed limit set by the driver is determined as the second comprehensive speed limit. On the premise of meeting the regulations, the driver's wishes can be fully considered, and the target speed limit can be determined based on the driver's current set speed limit, the first comprehensive speed limit, and the second comprehensive speed limit. The traffic speed limit, the experience speed limit, the ramp speed limit, the driver's current set speed limit, the driver's historically set speed limit, and the offset road speed limit set by the driver are comprehensively considered. The driver's wishes are fully considered to improve the driving experience. The current optimal target speed limit is finally determined based on the actual scenario, which ensures the rationality of the target speed limit, avoids abnormal acceleration and deceleration problems caused by inaccurate speed limit, unreasonable speed limit, speed limit jump, etc. caused by using a single speed limit value, and solves the problem of unreasonable vehicle speed limit.

[0112] In some embodiments, step 602 includes: determining the maximum value among the speed limit value currently set by the driver, the first comprehensive speed limit value, and the second comprehensive speed limit value as the target speed limit value.

[0113] Determining the maximum value among the speed limit currently set by the driver, the first comprehensive speed limit and the second comprehensive speed limit as the target speed limit can improve traffic efficiency.

[0114] Step 103: Control the speed of the vehicle based on the target speed limit value.

[0115] In an exemplary embodiment, controlling the speed of the vehicle based on the target speed limit value may include controlling the speed of the vehicle to be less than or equal to the target speed limit value.

[0116] In some embodiments, Figure 7 As shown, the process of the vehicle control method mainly includes:

[0117] Step 701, determine the current speed limit set by the driver, the traffic speed limit, the experience speed limit, the ramp speed limit, the driver's historical speed limit, and the offset road speed limit set by the driver.

[0118] The offset road speed limit value set by the driver is determined based on the speed limit offset value set by the driver and the current road speed limit value.

[0119] In an exemplary embodiment, the speed limit value currently set by the driver is recorded as V1, the traffic speed limit value is recorded as V2, the experienced speed limit value is recorded as V3, the ramp speed limit value is recorded as V4, the offset road speed limit value set by the driver is recorded as V5, and the speed limit value historically set by the driver is recorded as V6.

[0120] In an exemplary embodiment, the speed limit currently set by the driver, the traffic speed limit, the experience speed limit, the ramp speed limit, the speed limit historically set by the driver, and the offset road speed limit set by the driver are determined. It can be that when each scene occurs, the speed limit corresponding to the scene is determined. After driving for a section of road, these scenes do not necessarily appear together. They are more likely to appear in sequence, or several of them may appear at the same time. The currently available speed limit value can be obtained, and then the target speed limit value is determined based on the currently available speed limit value. It can also be determined first whether there is a speed limit currently set by the driver. If there is a speed limit currently set by the driver, the speed limit currently set by the driver is output. If there is no speed limit currently set by the driver, it is determined whether there is a traffic speed limit. If there is a traffic speed limit value, output the traffic speed limit value. If there is no traffic speed limit value, determine whether there is an empirical speed limit value. If there is an empirical speed limit value, output the empirical speed limit value. If there is no empirical speed limit value, determine whether there is a ramp speed limit value. If there is a ramp speed limit value, output the ramp speed limit value. If there is no ramp speed limit value, determine whether there is a driver's historical speed limit value. If there is a driver's historical speed limit value, determine whether the driver's historical speed limit value is greater than the offset road speed limit value set by the driver. If the driver's historical speed limit value is greater than the offset road speed limit value set by the driver, output the offset road speed limit value set by the driver. Otherwise, output the driver's historical speed limit value to achieve automatic downward flow judgment.

[0121] Step 702: Determine a first comprehensive speed limit value based on the traffic speed limit value, the empirical speed limit value, and the ramp speed limit value.

[0122] In an exemplary embodiment, after obtaining valid V2, V3, and V4, a fused first comprehensive speed limit value Vf is calculated based on V2, V3, and V4 through a structured road speed limit fusion algorithm.

[0123] Step 703: Determine the minimum value between the historical speed limit set by the driver and the offset road speed limit set by the driver as the second comprehensive speed limit.

[0124] In the exemplary embodiment, the second integrated speed limit value Vm=min( V5 , V6 ).

[0125] Step 704: Determine a target speed limit value based on the speed limit value currently set by the driver, the first comprehensive speed limit value, and the second comprehensive speed limit value.

[0126] In an exemplary embodiment, the target speed limit value V0 =max(V1, Vf, Vm), and the target speed limit value is the maximum value among the speed limit value currently set by the driver, the first comprehensive speed limit value, and the second comprehensive speed limit value.

[0127] Step 705: Control the speed of the vehicle based on the target speed limit value.

[0128] It can control the speed of the high-speed NOA (Navigate on Autopilot) function in all scenarios, and fully consider various speed limits such as driver operation, traffic speed limit, experience speed limit, ramp speed limit, etc., and finally determine the current optimal target speed limit based on the actual scenario, ensuring the rationality of the target speed limit, improving the driving experience, and improving traffic efficiency. Set the speed limit selection strategy and priority for each speed limit value, and output the final target speed limit value. Avoid abnormal acceleration and deceleration problems caused by inaccurate speed limit, unreasonable speed limit, speed limit jump, etc. caused by using a single speed limit value.

[0129] In summary, in this application, at least two speed limit values ​​are determined, and based on the at least two speed limit values, a target speed limit value is determined, and based on the target speed limit value, the speed of the vehicle is controlled. Comprehensively considering at least two speed limit values, the current optimal target speed limit value is finally determined based on the actual scenario, which ensures the rationality of the target speed limit value, avoids the abnormal acceleration and deceleration problems caused by inaccurate speed limit, unreasonable speed limit, speed limit jump, etc. caused by using a single speed limit value, and solves the problem of unreasonable vehicle speed limit.

[0130] Exemplary Devices

[0131] Accordingly, the embodiment of the present application also provides a vehicle control device, such as Figure 8 As shown, the vehicle control device includes:

[0132] A first processing unit 801 is used to determine at least two speed limit values;

[0133] A second processing unit 802 is configured to determine a target speed limit value based on the at least two speed limit values;

[0134] The control unit 803 is used to control the speed of the vehicle based on the target speed limit value.

[0135] The vehicle control device provided in this embodiment belongs to the same application concept as the vehicle control method provided in the above embodiments of this application, can execute the vehicle control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the vehicle control method. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle control method provided in the above embodiments of this application, and will not be repeated here.

[0136] The functions implemented by the above-mentioned first processing unit 801, the second processing unit 802 and the control unit 803 may be implemented by the same or different processors respectively, which is not limited in the embodiment of the present application.

[0137] It should be understood that the units in the above devices can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the device, wherein the processor can be a general-purpose processor, such as a CPU or a microprocessor, etc., and the memory can be a memory in the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD, taking FPGA as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by the configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be implemented in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the remaining part is implemented in the form of hardware circuits.

[0138] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a GPU, or a DSP; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0139] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0140] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a SOC. The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0141] Exemplary Electronic Devices

[0142] An embodiment of the present application provides an electronic device, see Fig. 9 As shown, the device includes:

[0143] Memory 200 and processor 210;

[0144] The memory 200 is connected to the processor 210 and is used to store programs;

[0145] The processor 210 is used to implement the vehicle control method disclosed in any of the above embodiments by running the program stored in the memory 200.

[0146] Specifically, the electronic device may further include: a bus, a communication interface 220 , an input device 230 and an output device 240 .

[0147] The processor 210, the memory 200, the communication interface 220, the input device 230 and the output device 240 are connected to each other via a bus.

[0148] A bus may include a pathway that transfers information between components of a computer system.

[0149] The processor 210 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may 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, discrete hardware components.

[0150] The processor 210 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0151] The memory 200 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 200 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0152] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0153] Output device 240 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0154] The communication interface 220 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0155] The processor 210 executes the program stored in the memory 200 and calls other devices, which can be used to implement each step of any vehicle control method provided in the above embodiments of the present application.

[0156] Exemplary computer program products and storage media

[0157] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle control method according to various embodiments of the present application described in any of the above-mentioned embodiments of this specification.

[0158] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0159] In addition, the embodiment of the present application may also be a storage medium on which a computer program is stored. The computer program is executed by a processor to execute the steps of the vehicle control method according to various embodiments of the present application described in any of the above embodiments of this specification, and specifically the following steps may be implemented:

[0160] Step 101, determining at least two speed limit values.

[0161] Step 102: determining a target speed limit value based on at least two speed limit values.

[0162] Step 103: Control the speed of the vehicle based on the target speed limit value.

[0163] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0164] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0165] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0166] The modules and sub-modules in the devices and terminals in the various embodiments of the present application can be combined, divided and deleted according to actual needs.

[0167] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, 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 an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0168] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0169] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0170] Professionals may 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 the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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 this application.

[0171] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0172] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0173] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: include: Determine at least two speed limit values; Determining a target speed limit value based on the at least two speed limit values; The speed of the vehicle is controlled based on the target speed limit value.

2. The vehicle control method according to claim 1, characterized in that: The speed limit value includes a traffic speed limit value; The determining of at least two speed limit values ​​comprises: Obtaining speed values ​​of each target vehicle in a preset area where the vehicle is located; Determining a traffic flow speed value based on the speed value of each of the target vehicles; When the traffic speed value is greater than the current road speed limit value, the traffic speed value is determined as the traffic speed limit value.

3. The vehicle control method according to claim 1, characterized in that: The speed limit value includes an empirical speed limit value; the empirical speed limit value is determined based on the historical driving speed value of each vehicle on the current road.

4. The vehicle control method according to claim 1, characterized in that: The speed limit value includes a ramp speed limit value; The determining of at least two speed limit values ​​comprises: In the case where it is determined that the vehicle is about to pass through a ramp, determining a speed value of the vehicle passing through the ramp based on a current speed value of the vehicle and a current road curvature; Based on the speed value of the vehicle passing through the ramp, the ramp speed limit value is determined from the ramp speed limit sign speed limit value and the map speed limit value.

5. The vehicle control method according to claim 1, characterized in that: The speed limit value includes the traffic speed limit value, the experience speed limit value, the ramp speed limit value and the driver setting value; The determining the target speed limit value based on the at least two speed limit values ​​includes: Determine a first comprehensive speed limit value based on the traffic speed limit value, the empirical speed limit value and the ramp speed limit value; wherein the priority of the traffic speed limit value is greater than the priority of the empirical speed limit value, and the priority of the empirical speed limit value is greater than the priority of the ramp speed limit value; A target speed limit value is determined based on the driver setting value and the first integrated speed limit value.

6. The vehicle control method according to claim 5, characterized in that: The driver setting value includes the driver's current speed limit value, the driver's historical speed limit value and the driver's offset road speed limit value; the driver's offset road speed limit value is determined based on the driver's speed limit offset value and the current road speed limit value; The determining of the target speed limit value based on the driver setting value and the first comprehensive speed limit value comprises: Determine the minimum value between the historical speed limit set by the driver and the offset road speed limit set by the driver as the second comprehensive speed limit; A target speed limit value is determined based on the current speed limit value set by the driver, the first comprehensive speed limit value, and the second comprehensive speed limit value.

7. The vehicle control method according to claim 6, characterized in that: The determining of the target speed limit value based on the speed limit value currently set by the driver, the first comprehensive speed limit value and the second comprehensive speed limit value includes: The maximum value among the speed limit value currently set by the driver, the first comprehensive speed limit value and the second comprehensive speed limit value is determined as the target speed limit value.

8. A vehicle control device, characterized in that: include: A first processing unit, configured to determine at least two speed limit values; A second processing unit, configured to determine a target speed limit value based on the at least two speed limit values; The control unit is used to control the speed of the vehicle based on the target speed limit value.

9. An electronic device, characterized in that: including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the vehicle control method according to any one of claims 1 to 7 by running the program in the memory.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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