Limited speed determination method and device and vehicle

Abstract

The embodiment of the invention discloses a speed limit determination method and device and a vehicle, the vehicle is provided with a sensor group and a control device, the sensor group is used for collecting sensing data, and the control device is used for determining driving environment information and a current driving state according to the sensing data. According to the embodiment of the invention, the method can enable the vehicle to automatically determine the limiting speed under the condition that the vehicle does not depend on a network, also can improve the matching degree between the determined limiting speed and the current driving scene of the vehicle, and improves the speed limiting accuracy of the vehicle. Therefore, the travel safety of the user is better guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of electric motorcycles, and in particular to a method and device for determining a speed limit and a vehicle. Background Art

[0002] As a new mode of transportation, shared electric motorcycles have won the favor of the public with their advantages such as pile-free parking mode and low rental prices. They not only provide great convenience for people's travel, but also alleviate the pressure on urban public transportation to a certain extent.

[0003] However, while sharing electric bikes brings many benefits, it also brings many safety risks. How to ensure the safety of users has become an important issue that the electric bike operation platform needs to solve urgently.

[0004] At present, in order to ensure the travel safety of users, the operating platform usually determines and issues speed limits for shared motorcycles through the server, and then the shared motorcycles limit the maximum driving speed according to the speed limit. However, this method not only has high requirements for the network environment where the shared motorcycle is located when issuing the speed limit, but also the speed limit issued by it is not consistent with the current driving scene of the vehicle. Summary of the invention

[0005] In view of this, the embodiments of the present invention provide a method, device and vehicle for determining a speed limit, so that the vehicle can determine its speed limit by itself without relying on the network, and at the same time improve the degree of fit between the determined speed limit and the current driving scenario of the vehicle, thereby better ensuring the travel safety of users.

[0006] In a first aspect, an embodiment of the present invention discloses a vehicle, the vehicle comprising:

[0007] Vehicle body;

[0008] A sensor group, the sensor group is arranged on the vehicle body, and the sensor group is used to collect sensor data;

[0009] The control device is configured to perform the following steps:

[0010] Determine driving environment information and current driving status according to the sensing data, wherein the driving environment information at least includes current weather conditions;

[0011] A target speed limit of the vehicle is determined according to the driving environment information and the current driving state, and the target speed limit is used to limit the maximum driving speed of the vehicle.

[0012] In a second aspect, an embodiment of the present invention discloses a method for determining a speed limit, the method comprising:

[0013] Determine driving environment information and current driving status according to the sensor data, wherein the driving environment information at least includes current weather conditions;

[0014] A target speed limit of the vehicle is determined according to the driving environment information and the current driving state, and the target speed limit is used to limit the maximum driving speed of the vehicle.

[0015] In a third aspect, an embodiment of the present invention discloses a device for determining a speed limit, the device comprising:

[0016] A first determining unit, configured to determine driving environment information and a current driving state according to the sensing data, wherein the driving environment information at least includes a current weather state;

[0017] The second determining unit is used to determine a target speed limit of the vehicle according to the driving environment information and the current driving state, wherein the target speed limit is used to limit the maximum driving speed of the vehicle.

[0018] In a fourth aspect, an embodiment of the present invention discloses a computer-readable storage medium storing computer program instructions, wherein the computer program instructions implement the method described in the second aspect when executed by a processor.

[0019] In a fifth aspect, an embodiment of the present invention discloses a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the method as described in the second aspect.

[0020] The vehicle of the embodiment of the present invention is provided with a sensor group and a control device, wherein the sensor group is used to collect sensor data, and the control device is used to determine driving environment information and a current driving state based on the sensor data, and then determine the target speed limit of the vehicle based on the driving environment information and the current driving state. Thus, this embodiment can enable the vehicle to determine the speed limit by itself without relying on the network, and at the same time can improve the degree of fit between the determined speed limit and the current driving scene of the vehicle, thereby better ensuring the travel safety of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0022] Figure 1 is a schematic diagram of a vehicle according to an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of hardware connections of a vehicle according to an embodiment of the present invention;

[0024] Figure 3is a flow chart of a method for determining a speed limit according to an embodiment of the present invention;

[0025] Figure 4 is a flow chart of a method for determining a target speed limit according to an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of a process for determining a target speed limit according to an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of a device for determining a speed limit according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present application is described below based on embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, some specific details are described in detail. It is possible for those skilled in the art to fully understand the present application without the description of these details. In order to avoid confusing the essence of the present application, known methods, processes, flows, components and circuits are not described in detail.

[0029] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0030] Unless the context clearly requires otherwise, the words "include", "comprising" and similar words throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, the meaning is "including but not limited to".

[0031] In the description of this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0032] The solutions described in this specification and in the examples, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0033] In the following description, a shared electric motorcycle will be used as an example, but it should be understood that the solution of the embodiment of the present invention is also applicable to other types of shared vehicles, such as shared cars or shared bicycles, etc. Furthermore, the solution of this embodiment can also be applied to related vehicles owned by individual users.

[0034] Figure 1 FIG. 1 is a schematic diagram of a vehicle according to an embodiment of the present invention. Figure 1 As shown, the vehicle includes a vehicle body 11, a sensor group and a control device (the sensor group and the control device are not shown in the figure). It should be understood that Figure 1 The vehicle structure shown is for illustration only. In actual application, the vehicle structure can be specifically designed by relevant personnel according to actual needs, and this application does not impose any restrictions on this.

[0035] The vehicle body 11 includes the main components of the vehicle, such as wheels, a frame, a seat, a power device, a battery, etc. In this embodiment, the vehicle body 11 can be used to realize the basic functions of the vehicle, such as a passenger driving function.

[0036] The sensor group is arranged on the vehicle body 11. In this embodiment, the sensor group can collect sensor data under the control of the control device. It should be understood that the sensor data can be the driving data of the vehicle itself during driving, or it can be the environmental data of the environment in which the vehicle is located during driving. For example, the sensor data can be the pitch angle and steering angle of the vehicle during driving, or it can be the temperature, humidity, wind speed, wind direction, light intensity, rainfall and current position of the vehicle in the environment in which the vehicle is located during driving. Further, the sensor data can be collected by the corresponding sensors in the sensor group respectively. Each of the sensors can be arranged at the corresponding position of the vehicle body 11 according to actual needs.

[0037] The control device is a hardware device for storing and executing corresponding programs, such as a single chip microcomputer. It should be understood that the control device can be integrated with the original control system of the vehicle, or can also be integrated into a separate speed limit determination device. Further, the control device can be connected to each sensor in the sensor group. In this embodiment, the control device can control the sensor group to collect sensor data and determine the speed limit for the vehicle based on the sensor data.

[0038] Specifically, the control device can collect sensor data through the sensor group during the vehicle driving process, and determine the driving environment information and the current driving state according to the sensor data, and then determine the target speed limit of the vehicle according to the driving environment information and the current driving state. Wherein, the driving environment information at least includes the current weather conditions, and the target speed limit is used to limit the maximum driving speed of the vehicle.

[0039] Thus, by arranging a sensor group and a control device on the vehicle, this embodiment can enable the vehicle to determine the speed limit by itself without relying on the network. At the same time, by determining the target speed limit according to the driving environment information and the current driving state, this embodiment can also improve the degree of fit between the determined speed limit and the current driving scene of the vehicle, thereby better ensuring the travel safety of users.

[0040] Figure 2 FIG. 1 is a schematic diagram of the hardware connection of a vehicle according to an embodiment of the present invention. Figure 2 As shown, the vehicle may include a sensor group 21 and a control device 22 .

[0041] Among them, the sensor group 21 may include a positioning sensor 211, a light sensor 212, an environmental sensor 213 and a posture sensor 214. Further, the positioning sensor 211 may be a sensor that uses a positioning system such as a global positioning system (GPS), a Beidou satellite navigation system or a Galileo satellite navigation system for positioning. In this embodiment, the positioning sensor 211 may be used to collect the current position of the vehicle. The light sensor 212 may be a photosensitive sensor and / or a light sensor. In this embodiment, the light sensor 212 may be used to collect light intensity data of the environment in which the vehicle is located. The environmental sensor 213 may include a corresponding temperature sensor, a humidity sensor, a rain sensor and a wind speed sensor. In this embodiment, the environmental sensor 213 may be used to collect environmental data in the environment in which the vehicle is located, and the environmental data may include at least one or more of the following combinations: temperature data, humidity data, rain data and wind speed data of the current environment. The posture sensor 214 may be a gyroscope sensor. In this embodiment, the attitude sensor 214 may be used to collect attitude information of the vehicle, and the attitude information may include the pitch angle and heading angle of the vehicle.

[0042] The control device 22 may be a hardware device for storing and executing corresponding programs, and the control device 22 is connected to each sensor in the sensor group 21 via a CAN (Controller Area Network) bus, a LIN (Local Interconnect Network) bus or a 485 bus. In this embodiment, the control device 22 may be used to control each sensor in the sensor group 21 to collect sensor data and determine a speed limit for the vehicle based on the sensor data. Optionally, the control device 22 includes at least a processor and a memory. The processor is connected to the memory via a bus. The memory is suitable for storing instructions or programs executable by the processor. The processor may be an independent microprocessor or a collection of one or more microprocessors. Thus, the processor executes the instructions stored in the memory, thereby executing the corresponding method flow to realize data processing and control of other devices.

[0043] It should be understood that Figure 2The sensors shown in the figure are for illustration only. In actual application, the above sensors are not the necessary hardware devices for executing the scheme in this embodiment. Furthermore, in actual application, the type and quantity of sensors carried on the vehicle can be set and adjusted by the relevant operators according to actual needs. For example, the operators can also install image acquisition devices and / or weight sensors on the vehicle, and this application does not limit this.

[0044] Figure 3 FIG. 1 is a flow chart of a method for determining a speed limit according to an embodiment of the present invention. Figure 3 As shown, the speed limit determination method may specifically include the following steps:

[0045] It should be understood that the execution subject of the speed limit determination method may specifically be the control device of the vehicle in the above embodiment.

[0046] S100: Determine driving environment information and current driving status according to sensor data.

[0047] Specifically, during the driving process of the vehicle, the control device can control the sensors in the sensor group to collect sensor data. After collecting the sensor data, the control device can determine the driving environment information and the current driving state according to the sensor data.

[0048] It should be understood that in this embodiment, the driving environment information determined by the control device may specifically be environmental information that may have an impact on the user's travel safety during vehicle driving.

[0049] Furthermore, the driving environment information may at least include current weather conditions.

[0050] Specifically, the current weather conditions at the location of the vehicle usually have an impact on the user's travel safety. For example, in rainy and snowy weather, visibility will decrease, and due to the slippery ground, the braking distance of the vehicle will also increase accordingly, which will not only make it impossible for the user to see the road conditions ahead, but also make it difficult for the user to control the vehicle. The control device can avoid weather factors affecting the user's travel safety by determining the current weather conditions and determining the speed limit for the vehicle based on the current weather conditions in the subsequent process. Optionally, in some embodiments, the control device can collect environmental data through the environmental sensors in the sensor group, and then determine the current weather conditions at the location of the vehicle based on the environmental data. Wherein, the environmental data can include at least one or more of the following combinations: temperature data, humidity data, rainfall data and wind speed data of the current environment. In other embodiments, the control device can collect the current location of the vehicle through the positioning sensor in the sensor group, and then query and determine the current weather conditions at the location of the vehicle based on the current location. In some other embodiments, the control device can collect the environmental image around the vehicle through the image acquisition device in the sensor group, and then determine the current weather conditions at the location of the vehicle based on the environmental image. It should be understood that the control device may also combine the above-mentioned methods to determine the current weather conditions at the vehicle's location, or the control device may also use other methods to determine the current weather conditions at the vehicle's location, and the present application does not impose any restrictions on this.

[0051] In some optional implementations, the driving environment information may also include a current light state and / or an area judgment result, where the area judgment result is used to indicate whether the vehicle is currently in a preset deceleration area.

[0052] Specifically, the current light state in the environment where the vehicle is located will also affect the user's travel safety. For example, when the ambient light is dim, visibility will decrease, which will make it difficult for the user to see the road conditions ahead. The control device can avoid the light state in the environment affecting the user's travel safety by determining the current light state in the environment where the vehicle is located, and determining the speed limit for the vehicle based on the current light state in the subsequent process. Optionally, in some embodiments, the control device can collect light intensity data of the environment around the vehicle through the light sensor in the sensor group, and then determine the current light state in the environment where the vehicle is located based on the light intensity data. In other embodiments, the control device can collect the environment image around the vehicle through the image acquisition device in the sensor group, and then determine the current light state in the environment where the vehicle is located based on the environment image. It should be understood that the control device can also combine the above-mentioned methods to determine the current light state in the environment where the vehicle is located, or the control device can also use other methods to determine the current light state in the environment where the vehicle is located, and the present application does not limit this.

[0053] The preset deceleration area may be a pre-set gathering area with large flow of people or vehicles (such as campus, scenic area, school and subway station entrance, etc.), or an area with high riding risk (such as mountain or bridge side, etc.). The control device can ensure the travel safety of users and other pedestrians and vehicles on the road by judging whether the current position of the vehicle is in the preset deceleration area, and determining the speed limit for the vehicle based on the regional judgment result in the subsequent process. Optionally, in some embodiments, the control device can collect the current position of the vehicle through the positioning sensor in the sensor group, and then judge whether the vehicle is currently in the preset deceleration area according to the current position. In other embodiments, the location of the preset deceleration area is usually provided with a corresponding signboard, and the control device can collect the environmental image around the vehicle through the image acquisition device in the sensor group, and then judge whether the vehicle is currently in the preset deceleration area by judging whether the corresponding signboard is included in the environmental image. It should be understood that the control device can also combine the above-mentioned methods to judge whether the vehicle is currently in the preset deceleration area, or the control device can also use other methods to judge whether the vehicle is currently in the preset deceleration area, and the present application does not limit this.

[0054] Optionally, the control device may collect vehicle posture information through a posture sensor in the sensor group, and then determine the current driving state of the vehicle based on the vehicle posture information. The vehicle posture information may specifically include the pitch angle and heading angle of the vehicle. Specifically, when determining the current driving state of the vehicle, the control device may determine the uphill and downhill state of the current vehicle based on the pitch angle of the vehicle, and then determine the turning state of the current vehicle based on the heading angle.

[0055] S200: Determine a target speed limit of the vehicle according to the driving environment information and the current driving state.

[0056] Specifically, after determining the driving environment information and the current driving state, the control device may determine the target speed limit of the vehicle according to the driving environment information and the current driving state, wherein the target speed limit is used to limit the maximum driving speed of the vehicle.

[0057] Figure 4 FIG. 4 is a flow chart of a method for determining a target speed limit according to an embodiment of the present invention. Figure 4 As shown, the target speed limit determination method may specifically include the following steps:

[0058] It should be understood that Figure 4 The target speed limit determination method shown can be specifically used to implement the above step S200. In actual application, Figure 4The steps in the target speed limit determination method shown may not be all executed by the control device, and the steps may be specifically determined by the control device according to the information content included in the driving environment information.

[0059] S210: Determine a corresponding first speed limit according to the current weather conditions.

[0060] Specifically, in this embodiment, the weather state is divided into normal weather and bad weather, wherein the normal weather is weather that will not affect the user's travel safety, and the bad weather is weather that will affect the user's travel safety. Furthermore, the bad weather can be further subdivided into windy weather, rainy weather, snowy weather, hail weather or thunder and lightning weather. Each type of bad weather can have a corresponding preset speed limit. In this step, the control device can determine whether the current weather state is bad weather, and if so, the preset speed limit corresponding to the current weather state can be determined as the first speed limit.

[0061] It should be understood that the preset speed limit can be determined by the relevant operator according to the impact of bad weather on the safety of users' travel. At the same time, the above-mentioned bad weather types are only for illustration. In actual application, the specific classification of bad weather can also be set and adjusted by the relevant operator according to actual needs.

[0062] In an optional implementation, each type of severe weather may have a corresponding preset speed limit interval. When determining the first speed limit, the control device may also determine the first speed limit in the preset speed limit interval according to the degree of impact of the current severe weather on the user's travel safety. For example, the control device may determine the first speed limit in the speed limit interval corresponding to rainy weather according to the current amount of rainfall. Another example is that the control device may determine the first speed limit in the speed limit interval corresponding to windy weather according to the current wind speed.

[0063] It should be understood that if the current weather condition is determined to be normal weather, the control device may directly determine the default maximum speed of the vehicle as the first speed limit. The default maximum speed may be the specified current maximum speed of the vehicle, and the speed of the vehicle may not exceed the default maximum speed under any circumstances.

[0064] S220: Determine a corresponding second speed limit according to the current driving state.

[0065] Specifically, in this embodiment, the driving state of the vehicle can be specifically divided into a normal driving state and an abnormal driving state, wherein the normal driving state is a driving state that will not affect the user's travel safety, and the abnormal driving state is a driving state that will affect the user's travel safety. Furthermore, the abnormal driving state can be subdivided into only being in a turning state, only being in an uphill state, only being in a downhill state, both being in a turning state and an uphill state, or both being in a turning state and a downhill state. Each of the abnormal driving states can have a corresponding preset speed limit. In this step, the control device can determine whether the current driving state of the vehicle is an abnormal driving state, and if so, the preset speed limit corresponding to the current driving state can be determined as the second speed limit.

[0066] It should be understood that the preset speed limit can be determined by relevant operators according to the degree of impact of abnormal driving status on user travel safety. At the same time, the abnormal driving status types given above are only for illustration. In actual application, the specific classification of abnormal driving status can be set and adjusted by relevant operators according to actual needs.

[0067] In an optional implementation, each abnormal driving state may have a corresponding preset speed limit interval. When determining the second speed limit, the control device may also determine the second speed limit in the preset speed limit interval according to the degree of influence of the current abnormal driving state on the user's travel safety. For example, the control device may determine the second speed limit in the speed limit interval corresponding to the uphill state according to the size of the uphill angle.

[0068] It should be understood that if it is determined that the current driving state of the vehicle is a normal driving state, the control device may directly determine the default maximum driving speed of the vehicle as the second speed limit.

[0069] S230: Determine a corresponding third speed limit according to the current light state.

[0070] Specifically, if the driving environment information determined by the control device includes the current light state, the corresponding third speed limit can be determined according to the current light state. If the driving environment information determined by the control device does not include the current light state, this step can be omitted. In this step, the control device can determine whether the current light state will affect the user's travel safety, and if so, the third speed limit can be determined according to the light intensity data.

[0071] It should be understood that if it is determined that the current light state will not affect the user's travel safety, the control device can directly determine the default maximum driving speed of the vehicle as the third speed limit.

[0072] S240: Determine a corresponding fourth speed limit according to the area determination result.

[0073] Specifically, if the driving environment information determined by the control device includes a region judgment result, the corresponding fourth speed limit can be determined according to the region judgment result. If the driving environment information determined by the control device does not include a region judgment result, this step can be omitted. In this step, each of the preset deceleration areas can have a corresponding preset speed limit, and the control device can determine the preset speed limit corresponding to the deceleration area where the vehicle is currently located as the fourth speed limit.

[0074] It should be understood that if it is determined that the vehicle is not currently in the preset deceleration area, the control device may directly determine the default maximum driving speed of the vehicle as the fourth speed limit.

[0075] S250: Determine the target speed limit according to the first speed limit, the second speed limit, the third speed limit, and the fourth speed limit.

[0076] Specifically, after determining the first speed limit, the second speed limit, the third speed limit and the fourth speed limit, the control device may determine the target speed limit according to the first speed limit, the second speed limit, the third speed limit and the fourth speed limit.

[0077] It should be understood that in this step, the control device only determines the target speed limit according to the determined speed limit.

[0078] In an optional implementation, when determining the target speed limit, the control device may determine the lowest speed limit among the first speed limit, the second speed limit, the third speed limit and the fourth speed limit as the target speed limit. In another optional implementation, when determining the target speed limit, the control device may also determine the weight coefficients corresponding to the respective speed limits, and then perform weighted sum of the first speed limit, the second speed limit, the third speed limit and the fourth speed limit according to the weight coefficients to determine the target speed limit. It should be understood that the weight coefficients corresponding to the respective speed limits may be pre-set by the relevant operating personnel according to actual needs. In some embodiments, the weight coefficients corresponding to the respective speed limits may also be determined by the control device according to the driving environment information corresponding to the respective speed limits or the degree of influence of the current driving state on the user's travel safety, for example: for the first speed limit, the control device may determine the weight coefficient corresponding to the first speed limit according to the amount of rain. For another example: for the second speed limit, the control device may determine the weight coefficient corresponding to the second speed limit according to the size of the uphill angle. For another example: for the third speed limit, the control device may determine the weight coefficient corresponding to the third speed limit according to the light intensity. For another example, for the fourth speed limit, the control device may determine a weight coefficient corresponding to the fourth speed limit according to the concentration level or danger level of the preset deceleration areas.

[0079] It should be understood that the factors that can affect the user's travel safety are not limited to the current weather conditions, current light conditions, area judgment results and current driving conditions given above. In actual application, there may also be other factors that affect the user's travel safety. For example, the current load of the vehicle can also affect the user's travel safety. In this regard, the control device can determine the speed limit corresponding to each factor respectively, and then determine the target speed limit based on the speed limits corresponding to each of the factors.

[0080] Optionally, after determining the target speed limit, if the control device detects that the current speed of the vehicle has exceeded the target speed limit, the vehicle can also be controlled to decelerate. Specifically, the control device can obtain the current speed of the vehicle. After obtaining the current speed, if the control device detects that the current speed is greater than the target speed limit, the vehicle can be controlled to decelerate so that the current speed is less than or equal to the target speed limit. It should be understood that in the subsequent driving process, the control device will limit the maximum driving speed of the vehicle to be equal to or less than the target speed limit, thereby ensuring the safety of the user's travel. Optionally, in this embodiment, the control device can control and limit the speed of the vehicle by controlling the current output by the power supply to the power device. It should be understood that when the vehicle is a vehicle driven by other energy sources, the control device can also control and limit the speed of the vehicle by limiting the output of the driving energy. Optionally, the current speed of the vehicle can also be obtained by the control device through a corresponding sensor.

[0081] Figure 5 FIG. 2 is a schematic diagram of a process for determining a target speed limit according to an embodiment of the present invention. Figure 5 As shown, the control device can determine the environmental data 511, the vehicle posture information 521, the light intensity data 531 and the current position 541 respectively through the environmental sensor 51, the posture sensor 52, the light sensor 53 and the positioning sensor 54 in the sensor group during the vehicle driving process, and then determine the current weather state 512, the current driving state 522, the current light state 532 and the area judgment result 542 respectively according to the environmental data 511, the vehicle posture information 521, the light intensity data 531 and the current position 541, and then determine the first speed limit 513, the second speed limit 523, the third speed limit 533 and the fourth speed limit 543 according to the current weather state 512, the current driving state 522, the current light state 532 and the area judgment result 542, and finally determine the target speed limit 55 according to the first speed limit 513, the second speed limit 523, the third speed limit 533 and the fourth speed limit 543.

[0082] The vehicle of the embodiment of the present invention is provided with a sensor group and a control device, wherein the sensor group is used to collect sensor data, and the control device is used to determine driving environment information and a current driving state based on the sensor data, and then determine the target speed limit of the vehicle based on the driving environment information and the current driving state. Thus, this embodiment can enable the vehicle to determine the speed limit by itself without relying on the network, and at the same time can improve the degree of fit between the determined speed limit and the current driving scene of the vehicle, thereby better ensuring the travel safety of users.

[0083] Figure 6 FIG. 1 is a schematic diagram of a speed limit determination device according to an embodiment of the present invention. Figure 6 As shown, the speed limit determination device according to the embodiment of the present invention includes a first determination unit 61 and a second determination unit 62 .

[0084] Specifically, the first determination unit 61 is used to determine the driving environment information and the current driving state according to the sensor data, and the driving environment information at least includes the current weather state;

[0085] The second determining unit 62 is used to determine a target speed limit of the vehicle according to the driving environment information and the current driving state, wherein the target speed limit is used to limit the maximum driving speed of the vehicle.

[0086] The speed limit determination device of the embodiment of the present invention determines the driving environment information and the current driving state according to the sensor data, and then determines the target speed limit of the vehicle according to the driving environment information and the current driving state. Therefore, this embodiment can enable the vehicle to determine the speed limit by itself without relying on the network, and at the same time can improve the degree of fit between the determined speed limit and the current driving scene of the vehicle, thereby better ensuring the travel safety of users.

[0087] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices (equipment) or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] The present application is described with reference to flowcharts of methods, apparatuses (devices) and computer program products according to embodiments of the present application. It should be understood that each process in the flowchart can be implemented by computer program instructions.

[0089] These computer program instructions may be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the process Figure 1 A function specified in a process or multiple processes.

[0090] These computer program instructions may also be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the instructions for implementing the process Figure 1 A device that specifies functions in a process or multiple processes.

[0091] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program, wherein the computer-readable program is used for a computer to execute part or all of the above method embodiments.

[0092] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by specifying relevant hardware through a program, and the program is stored in a storage medium, including several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0093] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle, characterized in that: The vehicle comprises: Vehicle body; A sensor group, the sensor group is arranged on the vehicle body, and the sensor group is used to collect sensor data; The control device is configured to perform the following steps: Determine driving environment information and current driving status according to the sensing data, wherein the driving environment information at least includes current weather conditions; A target speed limit of the vehicle is determined according to the driving environment information and the current driving state, and the target speed limit is used to limit the maximum driving speed of the vehicle.

2. The vehicle according to claim 1, characterized in that The driving environment information also includes a current light state and / or an area judgment result, and the area judgment result is used to indicate whether the vehicle is currently in a preset deceleration area.

3. The vehicle according to claim 1 or 2, characterized in that: The control device is also configured to perform: Get the current speed of the vehicle; In response to detecting that the current speed is greater than the target speed limit, the vehicle is controlled to decelerate so that the current speed is less than or equal to the target speed limit.

4. The vehicle according to claim 2, characterized in that The control device is configured to perform: Determine a first speed limit corresponding to the current weather condition; Determining a corresponding second speed limit according to the current driving state; Determine a corresponding third speed limit according to the current light state; Determining a corresponding fourth speed limit according to the area determination result; The target speed limit is determined based on the first speed limit, the second speed limit, the third speed limit, and the fourth speed limit.

5. The vehicle according to claim 4, characterized in that The control device is configured to perform: The lowest speed limit among the first speed limit, the second speed limit, the third speed limit, and the fourth speed limit is determined as the target speed limit.

6. The vehicle according to claim 4, characterized in that The control device is configured to perform: Determine the weight coefficient corresponding to each speed limit respectively; The target speed limit is determined by performing a weighted sum of the first speed limit, the second speed limit, the third speed limit, and the fourth speed limit according to the weight coefficient.

7. The vehicle according to claim 1, characterized in that The sensor group includes a posture sensor, and the posture sensor is used to collect vehicle posture information, and the vehicle posture information includes a pitch angle and a heading angle of the vehicle; The control device is configured to perform: Determine the uphill or downhill state of the current vehicle according to the pitch angle; The turning state of the current vehicle is determined according to the heading angle.

8. The vehicle according to claim 1, characterized in that The sensor group includes an environmental sensor, and the environmental sensor is used to collect environmental data, and the environmental data includes at least one or more of the following combinations: temperature data, humidity data, rainfall data and wind speed data of the current environment; The control device is configured to perform: The current weather conditions are determined based on the environmental data.

9. The vehicle according to claim 2, characterized in that The sensor group includes a light sensor, and the light sensor is used to collect light intensity data of the current environment; The control device is configured to perform: The current light state is determined according to the light intensity data.

10. The vehicle according to claim 9, characterized in that The light sensor includes a photosensor and / or an illumination sensor.

11. The vehicle according to claim 2, characterized in that The sensor group includes a positioning sensor, and the positioning sensor is used to collect the current position of the vehicle; The control device is also configured to: The area determination result is determined according to the current position.

12. A method for determining a speed limit, characterized in that: The method comprises: Determine driving environment information and current driving status according to the sensor data, wherein the driving environment information at least includes current weather conditions; A target speed limit of the vehicle is determined according to the driving environment information and the current driving state, and the target speed limit is used to limit the maximum driving speed of the vehicle.

13. A speed limit determination device, characterized in that: The device comprises: A first determining unit, configured to determine driving environment information and a current driving state according to the sensing data, wherein the driving environment information at least includes a current weather state; The second determining unit is used to determine a target speed limit of the vehicle according to the driving environment information and the current driving state, wherein the target speed limit is used to limit the maximum driving speed of the vehicle.

14. A computer-readable storage medium storing computer program instructions, characterized in that: The computer program instructions implement the method as claimed in claim 12 when executed by a processor.

15. A computer program product, characterized in that When the computer program product is run on a computer, it causes the computer to execute the method as claimed in claim 12 .

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