Vehicle speed limit control system and method based on green wave vehicle speed

Abstract

The invention discloses a vehicle speed limiting control system and method based on green wave vehicle speed. The system comprises a speed information obtaining module, a system judging module and a vehicle speed adjusting module. Wherein the speed information acquisition module acquires speed information on a road; the system judgment module judges whether the recognized green wave vehicle speed can be set as the cruise vehicle speed or not; the vehicle speed adjusting module adjusts the cruise vehicle speed after judging that the recognized green wave vehicle speed can be set as the cruise vehicle speed. The method comprises the steps of speed information acquisition, cruising speed judgment and speed adjustment. Wherein the cruise vehicle speed judgment comprises road speed limit judgment and judgment of whether the green wave vehicle speed is greater than the current road speed limit or not; vehicle following state judgment: judging whether the vehicle is in a vehicle following state or not; and vehicle speed comparison judgment: judging whether the green wave vehicle speed is greater than the vehicle following speed. According to the method, the requirements for vehicle configuration and traffic foundation setting are low, high practicability is achieved, and preference setting can be carried out according to the requirements of a driver.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle speed limit control system and method based on green wave speed. Background Art

[0002] Vehicle speed control refers to monitoring and controlling the speed of vehicles so that they do not exceed the set speed limit on a specific road or area. The green wave speed is a recommended speed calculated based on the distance between two traffic lights and the green light time. On the main roads of some cities, green wave belts and green wave speed signs are usually set up. Drivers can pass through multiple intersections continuously by driving at the green wave speed, reducing the time spent stopping and waiting for red lights, and improving traffic efficiency.

[0003] The existing vehicle speed guidance method based on green wave speed usually includes three modules: information collection module, distance calculation module and suggestion module. The information collection module obtains traffic light information and map information and locates the vehicle; the distance calculation module calculates the distance between the vehicle and the current road stop point; the suggestion module calculates the corresponding suggested driving speed based on the distance from the vehicle to the current road stop point and traffic light information and displays it to the driver.

[0004] This type of method needs to be highly dependent on relatively mature intelligent networking and vehicle-road collaboration technologies, requiring the vehicle, other vehicles on the road, traffic lights and other facilities to have intelligent networking and vehicle-road collaboration functions, and continuously send out information such as vehicles and traffic lights. After receiving this real-time information, the vehicle system performs calculations and finally obtains a green wave speed. However, intelligent networking and vehicle-road collaboration technologies cannot be widely popularized at this stage, and the transformation of road infrastructure and the upgrading of vehicles require huge costs and time. Therefore, the green wave speed guidance method based on intelligent networking and vehicle-road collaboration technologies is almost impossible to implement in the short term. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle speed limit control system and method based on green wave speed. The invention has extremely low requirements on vehicle configuration and traffic infrastructure, does not require them to have intelligent networking and vehicle-road collaborative technology, and has strong feasibility.

[0006] In order to achieve the above-mentioned object, the present invention provides a vehicle speed limit control system and method based on green wave speed, including a vehicle speed limit control method based on green wave speed and a vehicle speed limit control system based on green wave speed, wherein a vehicle speed limit control method based on green wave speed includes:

[0007] Speed ​​information acquisition, acquiring speed information on the road, the speed information including green wave vehicle speed;

[0008] Cruise speed judgment;

[0009] Road speed limit judgment: judge whether the green wave speed is greater than the current road speed limit;

[0010] Following vehicle status judgment: judging whether the vehicle is in the following vehicle status;

[0011] Compare and judge the vehicle speed to determine whether the green wave vehicle speed is greater than the following vehicle speed;

[0012] Based on the above three rounds, determine whether the identified green wave speed can be set as the cruising speed;

[0013] Vehicle speed adjustment: if the identified green wave speed can be set as the cruising speed, adjust the cruising speed to the green wave speed.

[0014] In one embodiment, the road speed limit determination includes:

[0015] If the green wave speed is greater than the current road speed limit, the green wave speed will not be set as the new cruising speed;

[0016] If the green wave speed is less than or equal to the current road speed limit, the following vehicle status needs to be judged based on the current driving conditions.

[0017] In one embodiment, the following vehicle status determination includes:

[0018] If the vehicle is not in the following state, the green wave speed is set as the new cruising speed;

[0019] If the vehicle is in the following state, it is necessary to compare and judge the vehicle speed based on the current driving conditions.

[0020] In one embodiment, the vehicle speed comparison judgment includes:

[0021] If the green wave speed is greater than the following speed, the green wave speed will not be set as the new cruising speed;

[0022] If the green wave speed is less than or equal to the following speed, then the green wave speed is set as the new cruising speed.

[0023] In one embodiment, the vehicle speed adjustment includes manual speed adjustment and automatic speed adjustment;

[0024] The manual speed adjustment includes requesting the driver to confirm or not confirm through a pop-up window of the vehicle instrument, setting the green wave speed as the new cruising speed after receiving the driver's confirmation feedback, and not setting the green wave speed as the new cruising speed after receiving the driver's non-confirmation feedback;

[0025] The automatic speed adjustment includes setting the green wave speed as a new cruising speed without the need for driver confirmation. A vehicle speed limit control system based on the green wave speed includes:

[0026] A speed information acquisition module, wherein the speed information acquisition module acquires speed information on the road, wherein the speed information includes a green wave vehicle speed;

[0027] A system judgment module, wherein the system judgment module judges whether the identified green wave speed can be set as a cruising speed, and the system judgment module includes:

[0028] The road speed limit judgment submodule judges whether the green wave vehicle speed is greater than the current road speed limit;

[0029] A vehicle following state judgment submodule is used to judge whether the vehicle is in a vehicle following state;

[0030] The vehicle speed comparison and judgment submodule determines whether the green wave vehicle speed is greater than the following vehicle speed;

[0031] The vehicle speed adjustment module adjusts the cruising speed to the green wave speed after determining that the identified green wave speed can be set as the cruising speed.

[0032] In one embodiment, the judgment process of the road speed limit judgment submodule is as follows: if the green wave speed is greater than the current road speed limit, then the green wave speed is not set as the new cruising speed; if the green wave speed is less than or equal to the current road speed limit, then it is necessary to perform a following vehicle state judgment in combination with the current driving situation;

[0033] The judgment process of the following vehicle state judgment submodule is as follows: if the vehicle is not in the following vehicle state, then the green wave speed is set as the new cruising speed; if the vehicle is in the following vehicle state, then the speed comparison judgment needs to be made in combination with the current driving situation;

[0034] The judgment process of the vehicle speed comparison judgment submodule is as follows: if the green wave vehicle speed is greater than the following vehicle speed, then the green wave vehicle speed is not set as the new cruising speed; if the green wave vehicle speed is less than or equal to the following vehicle speed, then the green wave vehicle speed is set as the new cruising speed.

[0035] In one embodiment, the vehicle speed adjustment module includes a manual speed adjustment mode and an automatic speed adjustment mode. The driver sets the vehicle speed adjustment module.

[0036] The manual speed adjustment mode includes requesting the driver to confirm or not confirm through a pop-up window of the vehicle instrument. After receiving the driver's confirmation feedback, the vehicle speed adjustment module sets the green wave speed to the new cruising speed. After receiving the driver's non-confirmation feedback, the vehicle speed adjustment module does not set the green wave speed to the new cruising speed.

[0037] The automatic speed adjustment mode includes that the vehicle speed adjustment module sets the green wave speed as the new cruising speed without the driver's confirmation.

[0038] In one embodiment, the green wave vehicle speed is acquired through a front-view camera installed on the vehicle and fed back to the speed information acquisition module.

[0039] In one embodiment, the speed information acquired by the speed information acquisition module includes: green wave speed information, road speed limit information, and preceding vehicle speed information.

[0040] The present invention has the following beneficial effects:

[0041] The present invention is an extension and enhancement of the automobile intelligent speed limit system, and is a vehicle speed limit control system and method based on the green wave speed. The present invention identifies the green wave speed of the green wave speed sign on the road, determines whether the identified green wave speed can be set as the cruising speed, and then determines whether to set the green wave speed to the cruising speed according to the pre-set speed adjustment method. The present invention only needs to obtain road information through road recognition technology for judgment and processing, without calling map navigation information, traffic light information, road traffic information, etc. for frequent and complex calculation and processing, and does not require the self-vehicle and other traffic participants and road infrastructure to have mature intelligent networking and vehicle-road collaborative technology. The requirements for vehicle configuration and traffic infrastructure are relatively low, and it has strong feasibility. At the same time, the present invention takes into account the driver's needs and can set preferences. The driver can decide whether to use the public road green wave speed as the cruising speed according to the set speed adjustment method. Finally, the present invention is also scalable. For example, for vehicles equipped with urban navigation assisted driving systems, it supports integration with map data, which can further expand functional application scenarios and improve driving comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flow chart of a vehicle speed limit control method based on green wave speed according to an embodiment of the present invention;

[0043] Figure 2 The present invention is a framework diagram of a vehicle speed limit control system based on green wave speed according to an embodiment of the present invention.

[0044] Reference numerals

[0045] 1. Speed ​​information acquisition module; 101. Start; 102. Identify green wave speed, road speed limit and front vehicle speed; 2. System judgment module; 21. Road speed limit judgment submodule; 211. Green wave speed ≤ intelligent speed limit, the current road speed limit used by the system to control the vehicle; 22. Following vehicle status judgment submodule; 221. Whether the vehicle is in the following vehicle status; 23. Speed ​​comparison judgment submodule; 231. Green wave speed ≤ following vehicle speed; 3. Speed ​​adjustment module; 301. Prompt whether to set the green wave speed to the cruising speed; 302. Confirm speed adjustment; 303. Set the green wave speed to the cruising speed; 304. Do not set the green wave speed to the cruising speed; 305. End. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0047] The present invention is an extension and enhancement of the automobile intelligent speed limit system, and is a vehicle speed limit control system and method based on the green wave speed. The present invention proposes a vehicle speed limit control method based on the green wave speed, including: speed information acquisition, cruising speed judgment and speed adjustment. Among them, speed information acquisition, obtaining speed information on the road, speed information including green wave speed. Cruising speed judgment includes road speed limit judgment, following vehicle status judgment and speed comparison judgment. Among them, road speed limit judgment, judging whether the green wave speed is greater than the current road speed limit. Following vehicle status judgment, judging whether the vehicle is in the following vehicle state. Speed ​​comparison judgment, judging whether the green wave speed is greater than the following vehicle speed. According to the above three rounds, it is judged whether the identified green wave speed can be set as the cruising speed. Speed ​​adjustment, if the identified green wave speed can be set as the cruising speed, adjust the cruising speed to the green wave speed.

[0048] In this embodiment, the road speed limit judgment includes: if the green wave speed is greater than the current road speed limit, then the green wave speed is not set as the new cruising speed; if the green wave speed is less than or equal to the current road speed limit, then it is necessary to perform a following vehicle status judgment in combination with the current driving conditions.

[0049] In this embodiment, the following vehicle state judgment includes: if the vehicle is not in the following vehicle state, then the green wave speed is set as the new cruising speed; if the vehicle is in the following vehicle state, then it is necessary to perform a speed comparison judgment in combination with the current driving situation.

[0050] In this embodiment, the speed comparison judgment includes: if the green wave speed is greater than the following speed, then the green wave speed is not set as the new cruising speed; if the green wave speed is less than or equal to the following speed, then the green wave speed is set as the new cruising speed. In this embodiment, preferably, in the case of being in the following state and the green wave speed is greater than the following speed, even if the green wave speed is set as the new cruising speed, the vehicle speed cannot reach the green wave speed. In this scenario, it is impossible to achieve the ideal driving state of driving at the green wave speed recommended by the road and continuously passing through multiple signal light intersections under the green light state.

[0051] In this embodiment, vehicle speed adjustment includes manual speed adjustment and automatic speed adjustment. Manual speed adjustment includes requesting the driver to confirm or not confirm through a pop-up window of the vehicle instrument. After receiving feedback of confirmation from the driver, the green wave speed is set to the new cruising speed. After receiving feedback of non-confirmation from the driver, the green wave speed is not set to the new cruising speed. Automatic speed adjustment includes setting the green wave speed to the new cruising speed without driver confirmation. In this embodiment, preferably, the driver sets the speed adjustment mode in the vehicle central control menu, wherein manual speed adjustment requires manual feedback from the driver, and automatic speed adjustment can be automatically adjusted by the system without manual feedback.

[0052] Figure 1 The flowchart of a specific implementation process of the vehicle speed limit control method based on the green wave speed of the present invention is disclosed. Figure 1 As shown, in this embodiment, the implementation process of the vehicle speed limit control method is as follows: Step 101, the method starts. Step 102, identify the green wave speed, the road speed limit and the speed of the vehicle in front. Step 211, compare the green wave speed with the intelligent speed limit, and determine the current road speed limit adopted by the system to control the vehicle. If the green wave speed ≤ the intelligent speed limit is established, go to step 221, if the green wave speed ≤ the intelligent speed limit is not established, go to step 304. Step 221, determine whether the vehicle is in a following state, if it is in a following state, go to step 231, if it is not in a following state, go to step 301. Step 231, compare the green wave speed with ≤ the following speed, if the green wave speed ≤ the following speed is established, go to step 301, if the green wave speed ≤ the following speed is not established, go to step 304. Step 301, prompt whether to set the green wave speed as the cruising speed. Step 302, confirm the speed adjustment. If the speed adjustment is confirmed, go to step 303. If the speed adjustment is not confirmed, go to step 304. Step 303, set the green wave speed as the cruising speed. Step 304, do not set the green wave speed as the cruising speed. Step 305, end.

[0053] like Figure 2As shown, a vehicle speed limit control system based on green wave speed includes a speed information acquisition module 1, a system judgment module 2 and a speed adjustment module 3. Among them, the speed information acquisition module 1 acquires speed information on the road, and the speed information includes the green wave speed. The system judgment module 2 determines whether the identified green wave speed can be set as a cruising speed. The system judgment module 2 includes a road speed limit judgment submodule 21, a following vehicle state judgment submodule 22 and a speed comparison judgment submodule 23. Among them, the road speed limit judgment submodule 21 determines whether the green wave speed is greater than the current road speed limit. The following vehicle state judgment submodule 22 determines whether the vehicle is in a following vehicle state. The speed comparison judgment submodule 23 determines whether the green wave speed is greater than the following vehicle speed. After determining that the identified green wave speed can be set as a cruising speed, the speed adjustment module 3 adjusts the cruising speed to the green wave speed.

[0054] In this embodiment, the judgment process of the road speed limit judgment submodule 21 is: if the green wave speed is greater than the current road speed limit, then the green wave speed is not set as the new cruising speed; if the green wave speed is less than or equal to the current road speed limit, then it is necessary to make a following vehicle state judgment in combination with the current driving situation. The judgment process of the following vehicle state judgment submodule 22 is: if the vehicle is not in the following vehicle state, then the green wave speed is set as the new cruising speed; if the vehicle is in the following vehicle state, then it is necessary to make a speed comparison judgment in combination with the current driving situation. The judgment process of the speed comparison judgment submodule 23 is: if the green wave speed is greater than the following vehicle speed, then the green wave speed is not set as the new cruising speed; if the green wave speed is less than or equal to the following vehicle speed, then the green wave speed is set as the new cruising speed.

[0055] In this embodiment, the vehicle speed adjustment module 3 includes a manual speed adjustment mode and an automatic speed adjustment mode, and the driver sets the vehicle speed adjustment module 3. The manual speed adjustment mode includes requesting the driver to confirm or not confirm through a pop-up window of the vehicle instrument. After receiving the driver's confirmation feedback, the vehicle speed adjustment module 3 sets the green wave speed to the new cruising speed. After receiving the driver's unconfirmed feedback, the vehicle speed adjustment module 3 does not set the green wave speed to the new cruising speed. The automatic speed adjustment mode includes setting the green wave speed to the new cruising speed without the driver's confirmation.

[0056] In this embodiment, the green wave vehicle speed is acquired through a front-view camera installed on the vehicle and fed back to the speed information acquisition module 1 .

[0057] In this embodiment, the speed information acquired by the speed information acquisition module 1 includes: green wave speed information, road speed limit information, and front vehicle speed information. In this embodiment, the green wave speed is the recommended speed calculated based on the distance between two signal lights and the green light time. The cruising speed is the maximum expected speed of the vehicle under the control of the longitudinal driving control function set by the driver or other systems. The following speed is the speed of the vehicle when the self-vehicle is in the following state and maintains the set following distance through the adaptive cruise system or the intelligent speed limit system under the control of the automobile adaptive cruise system or the automobile intelligent speed limit system when the set cruising speed is greater than the speed of the front vehicle. In this embodiment, the automobile intelligent speed limit system described in the following speed is a system with intelligent speed limit display, intelligent speed limit prompt function, and intelligent speed limit control function. The adaptive cruise system described in the following speed is a longitudinal control system that adds a reasonable distance control function set by the driver to the vehicle in front, based on the system in which the vehicle is cruise controlled according to the speed set by the driver.

[0058] The operation process of a vehicle speed limit control system and method based on green wave speed according to an embodiment of the present invention is as follows:

[0059] The green wave vehicle speed is obtained through the front-view camera installed on the vehicle and fed back to the speed information acquisition module. The speed information acquisition module receives the green wave vehicle speed information and obtains other speed information on the road.

[0060] The system judgment module determines whether the identified green wave speed can be set as the cruising speed. Among them, the judgment process of the system judgment module is as follows: the road speed limit judgment submodule determines whether the green wave speed is greater than the current road speed limit. If the green wave speed is greater than the current road speed limit, then the green wave speed will not be considered to be set as the new cruising speed; if the green wave speed is less than or equal to the current road speed limit, then it is necessary to make a following state judgment in combination with the current driving situation. The following state judgment submodule determines whether the vehicle is in the following state. If the vehicle is not in the following state, then consider setting the green wave speed as the new cruising speed; if the vehicle is in the following state, then it is necessary to make a speed comparison judgment in combination with the current driving situation. The speed comparison judgment submodule determines whether the green wave speed is greater than the following speed. If the green wave speed is greater than the following speed, then the green wave speed will not be considered to be set as the new cruising speed; if the green wave speed is less than or equal to the following speed, then consider setting the green wave speed as the new cruising speed.

[0061] After the speed adjustment module determines that the identified green wave speed can be set as the cruising speed, the speed adjustment module will adjust the cruising speed according to the speed adjustment method. If the speed adjustment method selected by the driver is manual speed adjustment, the vehicle instrument will request the driver to confirm or not confirm the speed adjustment in the form of a pop-up window. After receiving the driver's confirmation feedback, the speed adjustment module will set the green wave speed to the new cruising speed. After receiving the driver's non-confirmation feedback, the speed adjustment module will not set the green wave speed to the new cruising speed. If the speed adjustment method set by the driver is automatic speed adjustment, the speed adjustment module will set the green wave speed to the new cruising speed.

[0062] The present invention has the following beneficial effects:

[0063] The present invention is an extension and enhancement of the automobile intelligent speed limit system, and is a vehicle speed limit control system and method based on the green wave speed. The present invention identifies the green wave speed of the green wave speed sign on the road, determines whether the identified green wave speed can be set as the cruising speed, and then determines whether to set the green wave speed to the cruising speed according to the pre-set speed adjustment method. The present invention only needs to obtain road information through road recognition technology for judgment and processing, without calling map navigation information, traffic light information, road traffic information, etc. for frequent and complex calculation and processing, and does not require the self-vehicle and other traffic participants and road infrastructure to have mature intelligent networking and vehicle-road collaborative technology. The requirements for vehicle configuration and traffic infrastructure are relatively low, and it has strong feasibility. At the same time, the present invention takes into account the driver's needs and can set preferences. The driver can decide whether to use the public road green wave speed as the cruising speed according to the set speed adjustment method. Finally, the present invention is also scalable. For example, for vehicles equipped with urban navigation assisted driving systems, it supports integration with map data, which can further expand functional application scenarios and improve driving comfort.

[0064] The above-described embodiments are only further explanations of the present invention, and are not intended to limit the present invention in other forms. The present invention may also have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding modifications and changes according to the present invention, but these corresponding modifications and changes should all fall within the protection scope of the present invention.

Claims

1. A vehicle speed limit control method based on green wave speed, characterized in that: include: Speed ​​information acquisition, acquiring speed information on the road, the speed information including green wave vehicle speed; Cruise speed judgment; Road speed limit judgment: judge whether the green wave speed is greater than the current road speed limit; Following vehicle status judgment: judging whether the vehicle is in the following vehicle status; Compare and judge the vehicle speed to determine whether the green wave vehicle speed is greater than the following vehicle speed; Based on the above three rounds, determine whether the identified green wave speed can be set as the cruising speed; Vehicle speed adjustment: if the identified green wave speed can be set as the cruising speed, adjust the cruising speed to the green wave speed.

2. A vehicle speed limit control method based on green wave speed according to claim 1, characterized in that: The road speed limit determination includes: If the green wave speed is greater than the current road speed limit, the green wave speed will not be set as the new cruising speed; If the green wave speed is less than or equal to the current road speed limit, the following vehicle status needs to be judged based on the current driving conditions.

3. The vehicle speed limit control method based on green wave speed according to claim 1 is characterized in that: The following vehicle status determination includes: If the vehicle is not in the following state, the green wave speed is set as the new cruising speed; If the vehicle is in the following state, it is necessary to compare and judge the vehicle speed based on the current driving conditions.

4. The vehicle speed limit control method based on green wave speed according to claim 1 is characterized in that: The vehicle speed comparison and judgment comprises: If the green wave speed is greater than the following speed, the green wave speed will not be set as the new cruising speed; If the green wave speed is less than or equal to the following speed, then the green wave speed is set as the new cruising speed.

5. The vehicle speed limit control method based on green wave speed according to claim 1 is characterized in that: The vehicle speed adjustment includes manual speed adjustment and automatic speed adjustment; The manual speed adjustment includes requesting the driver to confirm or not confirm through a pop-up window of the vehicle instrument, setting the green wave speed as the new cruising speed after receiving the driver's confirmation feedback, and not setting the green wave speed as the new cruising speed after receiving the driver's non-confirmation feedback; The automatic speed adjustment includes setting the green wave speed to a new cruising speed without the need for driver confirmation.

6. A vehicle speed limit control system based on green wave speed, characterized in that: include: A speed information acquisition module, wherein the speed information acquisition module acquires speed information on the road, wherein the speed information includes a green wave vehicle speed; A system judgment module, wherein the system judgment module judges whether the identified green wave speed can be set as a cruising speed, and the system judgment module includes: The road speed limit judgment submodule judges whether the green wave vehicle speed is greater than the current road speed limit; A following vehicle status judgment submodule is used to judge whether the vehicle is in a following vehicle status; The vehicle speed comparison and judgment submodule determines whether the green wave vehicle speed is greater than the following vehicle speed; The vehicle speed adjustment module adjusts the cruising speed to the green wave speed after determining that the identified green wave speed can be set as the cruising speed.

7. The vehicle speed limit control system based on green wave speed according to claim 6 is characterized in that: The judgment process of the road speed limit judgment submodule is as follows: if the green wave speed is greater than the current road speed limit, then the green wave speed is not set as the new cruising speed; if the green wave speed is less than or equal to the current road speed limit, then it is necessary to judge the following vehicle status in combination with the current driving situation; The judgment process of the following vehicle state judgment submodule is as follows: if the vehicle is not in the following vehicle state, then the green wave speed is set as the new cruising speed; if the vehicle is in the following vehicle state, then the speed comparison judgment needs to be made in combination with the current driving situation; The judgment process of the vehicle speed comparison judgment submodule is as follows: if the green wave vehicle speed is greater than the following vehicle speed, then the green wave vehicle speed is not set as the new cruising speed; if the green wave vehicle speed is less than or equal to the following vehicle speed, then the green wave vehicle speed is set as the new cruising speed.

8. The vehicle speed limit control system based on green wave speed according to claim 6 is characterized in that: The vehicle speed adjustment module includes a manual speed adjustment mode and an automatic speed adjustment mode. The driver sets the vehicle speed adjustment module. The manual speed adjustment mode includes requesting the driver to confirm or not confirm through a pop-up window of the vehicle instrument. After receiving the driver's confirmation feedback, the vehicle speed adjustment module sets the green wave speed to the new cruising speed. After receiving the driver's non-confirmation feedback, the vehicle speed adjustment module does not set the green wave speed to the new cruising speed. The automatic speed adjustment mode includes that the vehicle speed adjustment module sets the green wave speed as the new cruising speed without the driver's confirmation.

9. The vehicle speed limit control system based on green wave speed according to claim 6, characterized in that: The green wave vehicle speed is acquired through a front-view camera installed on the vehicle and fed back to the speed information acquisition module.

10. The vehicle speed limit control system based on green wave speed according to claim 6, characterized in that: The speed information acquired by the speed information acquisition module includes: green wave speed information, road speed limit information, and preceding vehicle speed information.

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