Vehicle speed limiting method and device, vehicle and storage medium

Abstract

The invention relates to the field of intelligent driving of new energy vehicles, in particular to a vehicle speed limiting method and device, a vehicle and a storage medium. The method comprises the steps that the weather state, the light intensity, the speed limit sign and the navigation speed limit information of a road where a current vehicle is located, the current state of a driver and the path planning information of the current vehicle are acquired, the target speed limit value of the current vehicle is calculated according to the weather state, the light intensity, the speed limit sign, the navigation speed limit information, the current state of the driver and the path planning information, the current vehicle is controlled to run or decelerate according to the target speed limit value, and the actual speed of the current vehicle is smaller than or equal to the target speed limit value. Therefore, the maximum speed limit value is obtained through calculation in multiple aspects to control the vehicle to run, intelligent adjustment of the maximum speed limit of the vehicle is achieved, the problem that speed limit control at the present stage cannot better guarantee the safety of intelligent driving under multiple scenes is solved, and the road traffic safety and the driving comfort of a driver are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving of new energy vehicles, and in particular to a vehicle speed limiting method, device, vehicle and storage medium. Background Art

[0002] With the growing development of the automobile industry, cars have become the main means of transportation for people to travel. With the annual increase in the number of cars, the construction of road infrastructure and the improvement of people's driving habits are relatively lagging behind, and the casualties and property losses caused by traffic accidents are increasing year by year. In traffic accident statistics, the number of traffic accidents and casualties caused by speeding accounts for a large proportion of all types of traffic accidents. The types of accidents caused by speeding are mainly rear-end collisions between vehicles and unilateral traffic accidents, which are easy to cause major accidents and major accidents, causing serious casualties and property losses. Therefore, correctly controlling the vehicle speed is an important factor in ensuring the safety of intelligent assisted driving.

[0003] Among the related technologies, intelligent speed limit technology mainly obtains the information of road traffic speed limit signs or the speed limit information provided by the navigation through the front camera, obtains the maximum speed limit of the vehicle after comprehensive calculation, and accelerates or decelerates the vehicle through the longitudinal speed control system after comparing the current actual vehicle speed.

[0004] Patent [CN103832282A] proposes an intelligent automobile speed limit system and an automobile speed limit method. The intelligent automobile speed limit system includes: a camera that can identify road traffic signs and use image processing technology to extract road traffic sign information; an intelligent navigation that can provide real-time current road information, navigation route information, and national or regional traffic road speed limit regulations related information; a body sensor that can provide real-time body information; a controller that has a traffic speed limit sign database established inside, the input end of the controller is respectively connected to the camera, the intelligent navigation and the body sensor, and the output end of the controller is respectively connected to the vehicle instrument and the engine ECU.

[0005] However, this method can only calculate the speed limit information applicable to the actual vehicle based on the information provided by the camera, intelligent navigation and body sensors combined with the information in the traffic speed limit sign database to control the acceleration or deceleration of the actual vehicle. However, under different weather conditions (such as rainy days or nighttime with poor visibility), the driver's own state (whether he is fatigued driving) and path planning (such as on and off ramps), the maximum speed limit is not dynamically adjusted, and the safety of intelligent driving in multiple scenarios cannot be better guaranteed, which needs to be solved urgently. Summary of the invention

[0006] One of the objects of the present invention is to provide a vehicle speed limit method to solve the problem that the speed limit control in the prior art cannot better ensure the safety of intelligent driving in multiple scenarios; the second object is to provide a vehicle speed limit device; the third object is to provide a vehicle; and the fourth object is to provide a computer-readable storage medium.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A vehicle speed limiting method comprises the following steps:

[0009] Obtaining weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver, and the path planning information of the current vehicle on the road;

[0010] Calculating a target speed limit value of the current vehicle according to the weather conditions, the light intensity, the speed limit sign, the navigation speed limit information, the current state of the driver and the path planning information; and

[0011] The current vehicle is controlled to travel or decelerate according to the target speed limit value, so that the actual vehicle speed of the current vehicle is less than or equal to the target speed limit value.

[0012] Based on the above technical means, the present invention realizes intelligent assisted driving on high-speed speed-limited sections, comprehensively considers environmental conditions (including weather conditions, light intensity), path planning information and the driver's current state (whether driving fatigued), and intelligently adjusts the vehicle's maximum speed limit to improve road traffic safety and driver driving comfort.

[0013] Further, the calculating the target speed limit value of the current vehicle according to the weather condition, the light intensity, the speed limit sign, the navigation speed limit information, the current state of the driver and the path planning information includes:

[0014] determining a first speed limit value of the current vehicle according to the speed limit sign, determining a second speed limit value of the current vehicle according to the navigation speed limit information, determining a third speed limit value of the current vehicle according to the first speed limit value and the current state of the driver, determining a fourth speed limit value of the current vehicle according to the first speed limit value, the weather state and the light intensity, and determining a fifth speed limit value of the current vehicle according to the first speed limit value and the path planning information;

[0015] The minimum value among the first speed limit value, the second speed limit value, the third speed limit value, the fourth speed limit value and the fifth speed limit value is used as the target speed limit value.

[0016] According to the above technical means, the present invention calculates the maximum target speed limit of the vehicle based on the existing calculation of the maximum speed limit of the vehicle according to the road speed limit signs and navigation speed limit information, and then comprehensively considers the weather conditions, light intensity, the current state of the driver and the path planning information, so as to better ensure the safety of intelligent driving in multiple scenarios.

[0017] Further, determining the first speed limit value of the current vehicle according to the speed limit sign includes:

[0018] Performing graphic processing on the speed limit sign to obtain a value within the speed limit sign;

[0019] The value in the speed limit sign is used as the first speed limit value.

[0020] According to the above technical means, the present invention can obtain the numerical value in the speed limit sign as the first speed limit value of the present invention by performing graphic processing on the road speed limit sign.

[0021] Further, determining the third speed limit value of the current vehicle according to the first speed limit value and the current state of the driver includes:

[0022] Determining whether the driver is in a preset fatigue state according to the current state;

[0023] If the driver is in the preset fatigue state, the third speed limit value is obtained according to the difference between the first speed limit value and the preset fatigue speed limit value; otherwise, the first speed limit value is used as the third speed limit value.

[0024] According to the above technical means, by judging whether the driver is in a fatigue driving state, the third speed limit value of the current vehicle is determined to ensure the driver's safe driving.

[0025] Further, the determining the fourth speed limit value of the current vehicle according to the first speed limit value, the weather condition and the light intensity includes:

[0026] Determining whether the weather condition satisfies a preset speed limit condition, or whether the light intensity is less than a preset light intensity;

[0027] If the weather condition satisfies the preset speed limit condition, or the light intensity is less than the preset light intensity, the preset speed value is used as the fourth speed limit value; otherwise, the first speed limit value is used as the fourth speed limit value.

[0028] According to the above technical means, the present invention calculates the fourth speed limit value by integrating weather conditions and light intensity through the vehicle's perception system, ensuring that the driver can drive at a relatively safe speed when visibility is poor or the braking distance is long.

[0029] Further, determining the fifth speed limit value of the current vehicle according to the first speed limit value and the path planning information includes:

[0030] Identify, according to the path planning information, whether the current vehicle is in the rightmost lane and enters the ramp after traveling a preset distance;

[0031] If the current vehicle is in the rightmost lane and enters the ramp after traveling the preset distance, the preset planned speed limit value is used as the fifth speed limit value; otherwise, the first speed limit value is used as the fifth speed limit value.

[0032] According to the above technical means, the present invention determines the fifth speed limit by identifying whether the vehicle is about to enter the ramp based on the path information to ensure that the vehicle can enter the ramp from the main road at a safer speed, while improving the success rate of the vehicle entering the ramp.

[0033] A speed limiting device for a vehicle, comprising:

[0034] An acquisition module is used to acquire the weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver and the path planning information of the current vehicle on the road;

[0035] a calculation module, configured to calculate a target speed limit value of the current vehicle according to the weather conditions, the light intensity, the speed limit sign, the navigation speed limit information, the current state of the driver and the path planning information; and

[0036] The control module is used to control the current vehicle to travel or decelerate according to the target speed limit value, so that the actual speed of the current vehicle is less than or equal to the target speed limit value.

[0037] Furthermore, the calculation module is specifically used for:

[0038] determining a first speed limit value of the current vehicle according to the speed limit sign, determining a second speed limit value of the current vehicle according to the navigation speed limit information, determining a third speed limit value of the current vehicle according to the first speed limit value and the current state of the driver, determining a fourth speed limit value of the current vehicle according to the first speed limit value, the weather state and the light intensity, and determining a fifth speed limit value of the current vehicle according to the first speed limit value and the path planning information;

[0039] The minimum value among the first speed limit value, the second speed limit value, the third speed limit value, the fourth speed limit value and the fifth speed limit value is used as the target speed limit value.

[0040] Furthermore, the calculation module is specifically used for:

[0041] Performing graphic processing on the speed limit sign to obtain a value within the speed limit sign;

[0042] The value in the speed limit sign is used as the first speed limit value.

[0043] Furthermore, the calculation module is specifically used for:

[0044] Determining whether the driver is in a preset fatigue state according to the current state;

[0045] If the driver is in the preset fatigue state, the third speed limit value is obtained according to the difference between the first speed limit value and the preset fatigue speed limit value; otherwise, the first speed limit value is used as the third speed limit value.

[0046] Furthermore, the calculation module is specifically used for:

[0047] Determining whether the weather condition satisfies a preset speed limit condition, or whether the light intensity is less than a preset light intensity;

[0048] If the weather condition satisfies the preset speed limit condition, or the light intensity is less than the preset light intensity, the preset speed value is used as the fourth speed limit value; otherwise, the first speed limit value is used as the fourth speed limit value.

[0049] Furthermore, the calculation module is specifically used for:

[0050] Identify, according to the path planning information, whether the current vehicle is in the rightmost lane and enters the ramp after traveling a preset distance;

[0051] If the current vehicle is in the rightmost lane and enters the ramp after traveling the preset distance, the preset planned speed limit value is used as the fifth speed limit value; otherwise, the first speed limit value is used as the fifth speed limit value.

[0052] A vehicle comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle speed limiting method as described in the above embodiment.

[0053] A computer-readable storage medium stores a computer program, which is executed by a processor to implement the vehicle speed limiting method as described in the above embodiment.

[0054] Beneficial effects of the present invention:

[0055] In high-speed intelligent assisted driving, based on the current road speed limit sign and the maximum speed limit of the navigation, and taking into account the weather, driver status and route planning, the current vehicle's maximum speed limit can be intelligently adjusted to better ensure the safety of intelligent driving in multiple scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A flowchart of a vehicle speed limiting method provided according to an embodiment of the present invention;

[0057] Figure 2 A schematic diagram of implementation steps of a vehicle speed limiting method according to an embodiment of the present invention;

[0058] Figure 3 is a block diagram of a speed limiting device for a vehicle according to an embodiment of the present invention;

[0059] Figure 4 FIG. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.

[0060] Among them, 10 is a speed limit device of a vehicle, 100 is an acquisition module, 200 is a calculation module, 300 is a control module, 401 is a memory, 402 is a processor, and 403 is a communication interface. DETAILED DESCRIPTION

[0061] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0062] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0063] Specifically, Figure 1 The present invention provides a flow chart of a vehicle speed limiting method according to an embodiment of the present invention.

[0064] like Figure 1 As shown, the speed limiting method of the vehicle includes the following steps:

[0065] In step S101, the weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver and the path planning information of the current vehicle on the road are obtained.

[0066] It is understandable that the maximum speed limit of a vehicle in the relevant technology is generally obtained according to the speed limit information provided by the road speed limit signs and navigation. In order to improve the safety of the driver's intelligent driving in multiple scenarios, the following points should be noted: (1) In bad weather conditions (such as rainy days and poor visibility at night), the speed should not be too fast; (2) When the driver is driving tired, the speed should be appropriately reduced; (3) When the vehicle needs to enter or exit a ramp, the speed needs to be controlled within a certain speed.

[0067] The embodiment of the present invention obtains weather conditions and light intensity through a perception system, obtains speed limit sign information using a forward-looking camera detection device, obtains navigation speed limit information using a high-precision map navigation, obtains the driver's current state (whether he is driving fatigued) through a DMS (Driver Monitor System) driver monitoring system, and obtains path planning information of the current road (whether he is entering or exiting a ramp) through a path planning module.

[0068] In step S102, the target speed limit value of the current vehicle is calculated according to weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver and path planning information.

[0069] Further, in some embodiments, a target speed limit value of the current vehicle is calculated based on weather conditions, light intensity, a speed limit sign, navigation speed limit information, the driver's current state and path planning information, including: determining a first speed limit value of the current vehicle based on the speed limit sign, and determining a second speed limit value of the current vehicle based on the navigation speed limit information, and determining a third speed limit value of the current vehicle based on the first speed limit value and the driver's current state, and determining a fourth speed limit value of the current vehicle based on the first speed limit value, weather conditions and light intensity, and determining a fifth speed limit value of the current vehicle based on the first speed limit value and path planning information; taking the minimum value of the first speed limit value, the second speed limit value, the third speed limit value, the fourth speed limit value and the fifth speed limit value as the target speed limit value.

[0070] Specifically, when the vehicle is driving at high speed, the vehicle's intelligent assisted driving function is turned on, and each module in the intelligent speed limit system starts working. Figure 2As shown, in an embodiment of the present invention, the actual maximum speed limit value of the vehicle (i.e., the target speed limit value) can be calculated by starting a timing task with multiple modules, including: the maximum speed limit value of the road speed limit sign detected by the front-view camera is determined as the first speed limit value Vmax1 of the current vehicle; the maximum speed limit value in the navigation speed limit information provided by the high-precision map navigation is determined as the second speed limit value Vmax2 of the current vehicle; the DMS system detects whether the current state of the driver is fatigue driving, and determines the third speed limit value Vmax3 of the current vehicle according to the first speed limit value and the current state of the driver, i.e., Vmax3 =Vmax1–flag*20, where if the driver is currently in a fatigued driving state, flag is 1, and if the driver is not in a fatigued driving state, flag is 0; the perception system detects the current weather conditions and light intensity, and if the current weather is rainy or dark, determines the fourth speed limit value of the current vehicle Vmax4=100km / h, otherwise, Vmax4=Vmax1; the path planning module detects whether the current vehicle is in the rightmost lane and is about to enter the ramp, and if so, determines the fifth speed limit value of the current vehicle Vmax5=80km / h, otherwise, Vmax5=Vmax1. Therefore, the embodiment of the present invention obtains the weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver, and the path planning information of the current vehicle on the road, and inputs the speed limit values ​​calculated by each module according to the corresponding information into the actual speed limit calculation module, and the minimum value is taken as the target speed limit value Vmax of the current vehicle.

[0071] Among them, in some embodiments, determining the first speed limit value of the current vehicle according to the speed limit sign includes: performing graphic processing on the speed limit sign to obtain a value in the speed limit sign; and using the value in the speed limit sign as the first speed limit value.

[0072] Specifically, the front-view camera recognizes the speed limit sign on the road, and uses graphics processing technology to process the speed limit sign to obtain the value in the speed limit sign, which is the first speed limit value Vmax1 of the current vehicle, and outputs the value to the input of the actual speed limit calculation module.

[0073] It should be noted that in order to avoid excessive system resource usage due to frequent function calls, this step is performed when a new road speed limit sign is identified.

[0074] Further, in some embodiments, a third speed limit value of the current vehicle is determined based on the first speed limit value and the current state of the driver, including: judging whether the driver is in a preset fatigue state based on the current state; if the driver is in the preset fatigue state, obtaining the third speed limit value based on the difference between the first speed limit value and the preset fatigue speed limit value, otherwise, using the first speed limit value as the third speed limit value.

[0075] Specifically, the DMS system periodically detects the driver's status. When the driver yawns, has a dull expression, or frequently closes his eyes, it is determined that the driver's current status is in a preset fatigue state (i.e., fatigue driving). The third speed limit value Vmax3 is obtained according to the difference between the first speed limit value and the preset fatigue speed limit value (i.e., fatigue driving, flag=1, non-fatigue driving, flag=0), i.e., Vmax3=Vmax1–flag*20=Vmax1–20. If the driver is concentrating and not driving fatigued, it is determined that the driver's current status is not in the preset fatigue state (i.e., non-fatigue driving). At this time, the third speed limit value Vmax3=Vmax1.

[0076] Further, in some embodiments, a fourth speed limit value of the current vehicle is determined based on the first speed limit value, weather conditions and light intensity, including: judging whether the weather conditions meet the preset speed limit conditions, or whether the light intensity is less than the preset light intensity; if the weather conditions meet the preset speed limit conditions, or the light intensity is less than the preset light intensity, then the preset speed value is used as the fourth speed limit value, otherwise, the first speed limit value is used as the fourth speed limit value.

[0077] Specifically, the perception system determines whether the current weather conditions meet the preset speed limit conditions (i.e. whether it is a rainy day) or whether the light intensity is less than the preset light intensity (i.e. whether it is night) through comprehensive information from the forward-looking camera and other equipment. If so, the preset speed value is used as the fourth speed limit of the current vehicle, i.e. Vmax4=100km / h. This limit is to ensure that the vehicle can travel at a relatively safe speed when visibility is poor and the braking distance is long. If it is daytime and the weather is clear, the first speed limit value is used as the fourth speed limit value, i.e. Vmax4=Vmax1.

[0078] Further, in some embodiments, determining the fifth speed limit value of the current vehicle based on the first speed limit value and the path planning information includes: identifying whether the current vehicle is in the rightmost lane and enters the ramp after driving a preset distance based on the path planning information; if the current vehicle is in the rightmost lane and enters the ramp after driving a preset distance, then using the preset planned speed limit value as the fifth speed limit value, otherwise, using the first speed limit value as the fifth speed limit value.

[0079] Specifically, when the path planning information provided by the path planning module identifies that the current vehicle is driving to the rightmost lane and is about to enter the ramp after driving a preset distance (such as 200m), the preset planned speed limit value is used as the fifth speed limit value, that is, Vmax5=80km / h. Otherwise, the first speed limit value is used as the fifth speed limit value, that is, Vmax5=Vmax1. This solution is to ensure that the vehicle can enter the ramp at a safe speed when entering from the main road, and at the same time, it can also improve the success rate of the vehicle entering the ramp.

[0080] In step S103, the current vehicle is controlled to travel or decelerate according to the target speed limit value, so that the actual vehicle speed of the current vehicle is less than or equal to the target speed limit value.

[0081] Specifically, the actual speed limit calculation module in the embodiment of the present invention is set to execute at a fixed time, calculates the speed limit values ​​input by each module, takes the minimum value Vmax=min(Vmax1, Vmax2, Vmax3, Vmax4, Vmax5) as the target speed limit value of the current vehicle and outputs it to the electronic control unit (Electronic Control Unit, ECU for short) of the vehicle speed control module, and controls the vehicle to travel or decelerate by comparing the target speed limit value Vmax with the current actual vehicle speed Vreal to ensure that the vehicle is limited to travel within the specified maximum speed, that is, the actual speed of the current vehicle is less than or equal to the target speed limit value.

[0082] According to the vehicle speed limit method proposed in the embodiment of the present invention, the target speed limit value of the current vehicle is calculated based on the weather conditions, light intensity, speed limit signs, navigation speed limit information, current state of the driver and path planning information of the current vehicle on the road currently located by the acquired vehicle, so as to control the current vehicle to travel or decelerate according to the target speed limit value, so that the actual speed of the current vehicle is less than or equal to the target speed limit value. Thus, the vehicle travel is controlled by calculating the maximum speed limit value according to multiple aspects, and the intelligent adjustment of the maximum speed limit of the vehicle is realized, which solves the problem that the current speed limit control cannot better guarantee the safety of intelligent driving in multiple scenarios, and improves road traffic safety and driving comfort of the driver.

[0083] Next, a speed limiting device for a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0084] Figure 3 The figure is a block diagram of a speed limiting device for a vehicle according to an embodiment of the present invention.

[0085] like Figure 3 As shown, the speed limiting device 10 of the vehicle includes: an acquisition module 100 , a calculation module 200 and a control module 300 .

[0086] The acquisition module 100 is used to obtain the weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver and the path planning information of the current vehicle on the road;

[0087] A calculation module 200, for calculating a target speed limit value of the current vehicle according to weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver and path planning information; and

[0088] The control module 300 is used to control the current vehicle to travel or decelerate according to the target speed limit value, so that the actual vehicle speed of the current vehicle is less than or equal to the target speed limit value.

[0089] Furthermore, in some embodiments, the calculation module 200 is specifically configured to:

[0090] Determine a first speed limit value of the current vehicle according to the speed limit sign, determine a second speed limit value of the current vehicle according to the navigation speed limit information, determine a third speed limit value of the current vehicle according to the first speed limit value and the current state of the driver, determine a fourth speed limit value of the current vehicle according to the first speed limit value, weather conditions and light intensity, and determine a fifth speed limit value of the current vehicle according to the first speed limit value and the path planning information;

[0091] The minimum value among the first speed limit value, the second speed limit value, the third speed limit value, the fourth speed limit value and the fifth speed limit value is taken as the target speed limit value.

[0092] Furthermore, in some embodiments, the calculation module 200 is specifically configured to:

[0093] Perform graphic processing on the speed limit sign to obtain the value inside the speed limit sign;

[0094] The value in the speed limit sign is used as the first speed limit value.

[0095] Furthermore, in some embodiments, the calculation module 200 is specifically configured to:

[0096] Determine whether the driver is in a preset fatigue state based on the current state;

[0097] If the driver is in a preset fatigue state, the third speed limit value is obtained according to the difference between the first speed limit value and the preset fatigue speed limit value; otherwise, the first speed limit value is used as the third speed limit value.

[0098] Furthermore, in some embodiments, the calculation module 200 is specifically configured to:

[0099] Determine whether the weather conditions meet the preset speed limit conditions, or whether the light intensity is less than the preset light intensity;

[0100] If the weather condition meets the preset speed limit condition, or the light intensity is less than the preset light intensity, the preset speed value is used as the fourth speed limit value; otherwise, the first speed limit value is used as the fourth speed limit value.

[0101] Furthermore, in some embodiments, the calculation module 200 is specifically configured to:

[0102] Identify whether the current vehicle is in the rightmost lane and enters the ramp after driving a preset distance according to the path planning information;

[0103] If the current vehicle is in the rightmost lane and enters the ramp after driving a preset distance, the preset planned speed limit value is used as the fifth speed limit value; otherwise, the first speed limit value is used as the fifth speed limit value.

[0104] It should be noted that the above explanation of the embodiment of the vehicle speed limiting method is also applicable to the vehicle speed limiting device of this embodiment, which will not be repeated here.

[0105] According to the vehicle speed limit device proposed in the embodiment of the present invention, the target speed limit value of the current vehicle is calculated based on the weather conditions, light intensity, speed limit signs, navigation speed limit information, current state of the driver and path planning information of the current vehicle on the road currently located by the acquired vehicle, so as to control the current vehicle to travel or decelerate according to the target speed limit value, so that the actual speed of the current vehicle is less than or equal to the target speed limit value. Thus, the vehicle travel is controlled by calculating the maximum speed limit value according to multiple aspects, and the intelligent adjustment of the maximum speed limit of the vehicle is realized, which solves the problem that the current speed limit control cannot better guarantee the safety of intelligent driving in multiple scenarios, and improves road traffic safety and driving comfort of the driver.

[0106] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present invention. The vehicle may include:

[0107] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0108] When the processor 402 executes the program, the vehicle speed limiting method provided in the above embodiment is implemented.

[0109] Furthermore, the vehicle also includes:

[0110] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0111] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0112] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0113] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0114] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0115] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0116] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above vehicle speed limiting method when executed by a processor.

[0117] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle speed limiting method, characterized in that: The following steps are involved: Obtaining weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver, and the path planning information of the current vehicle on the road; Calculating a target speed limit value of the current vehicle according to the weather conditions, the light intensity, the speed limit sign, the navigation speed limit information, the current state of the driver and the path planning information; as well as The current vehicle is controlled to travel or decelerate according to the target speed limit value, so that the actual vehicle speed of the current vehicle is less than or equal to the target speed limit value.

2. The method according to claim 1, characterized in that The calculating the target speed limit value of the current vehicle according to the weather condition, the light intensity, the speed limit sign, the navigation speed limit information, the current state of the driver and the path planning information includes: determining a first speed limit value of the current vehicle according to the speed limit sign, determining a second speed limit value of the current vehicle according to the navigation speed limit information, determining a third speed limit value of the current vehicle according to the first speed limit value and the current state of the driver, determining a fourth speed limit value of the current vehicle according to the first speed limit value, the weather state and the light intensity, and determining a fifth speed limit value of the current vehicle according to the first speed limit value and the path planning information; The minimum value among the first speed limit value, the second speed limit value, the third speed limit value, the fourth speed limit value and the fifth speed limit value is used as the target speed limit value.

3. The method according to claim 2, characterized in that The determining the first speed limit value of the current vehicle according to the speed limit sign includes: Performing graphic processing on the speed limit sign to obtain a value within the speed limit sign; The value in the speed limit sign is used as the first speed limit value.

4. The method according to claim 2 or 3, characterized in that: The determining the third speed limit value of the current vehicle according to the first speed limit value and the current state of the driver includes: Determining whether the driver is in a preset fatigue state according to the current state; If the driver is in the preset fatigue state, the third speed limit value is obtained according to the difference between the first speed limit value and the preset fatigue speed limit value; otherwise, the first speed limit value is used as the third speed limit value.

5. The method according to claim 2 or 3, characterized in that: The determining the fourth speed limit value of the current vehicle according to the first speed limit value, the weather condition and the light intensity includes: Determining whether the weather condition satisfies a preset speed limit condition, or whether the light intensity is less than a preset light intensity; If the weather condition satisfies the preset speed limit condition, or the light intensity is less than the preset light intensity, the preset speed value is used as the fourth speed limit value; otherwise, the first speed limit value is used as the fourth speed limit value.

6. The method according to claim 2 or 3, characterized in that: The determining, according to the first speed limit value and the path planning information, a fifth speed limit value of the current vehicle includes: Identify, according to the path planning information, whether the current vehicle is in the rightmost lane and enters the ramp after traveling a preset distance; If the current vehicle is in the rightmost lane and enters the ramp after traveling the preset distance, the preset planned speed limit value is used as the fifth speed limit value; otherwise, the first speed limit value is used as the fifth speed limit value.

7. A speed limiting device for a vehicle, characterized in that: include: An acquisition module is used to acquire the weather conditions, light intensity, speed limit signs, navigation speed limit information, the current state of the driver and the path planning information of the current vehicle on the road; a calculation module, configured to calculate a target speed limit value of the current vehicle according to the weather conditions, the light intensity, the speed limit sign, the navigation speed limit information, the current state of the driver and the path planning information; as well as The control module is used to control the current vehicle to travel or decelerate according to the target speed limit value, so that the actual speed of the current vehicle is less than or equal to the target speed limit value.

8. The device according to claim 7, characterized in that The computing module is specifically used for: determining a first speed limit value of the current vehicle according to the speed limit sign, determining a second speed limit value of the current vehicle according to the navigation speed limit information, determining a third speed limit value of the current vehicle according to the first speed limit value and the current state of the driver, determining a fourth speed limit value of the current vehicle according to the first speed limit value, the weather state and the light intensity, and determining a fifth speed limit value of the current vehicle according to the first speed limit value and the path planning information; The minimum value among the first speed limit value, the second speed limit value, the third speed limit value, the fourth speed limit value and the fifth speed limit value is used as the target speed limit value.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle speed limiting method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle speed limiting method as described in any one of claims 1 to 6.

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