Curve speed limiting method and system for autonomous vehicle

Abstract

The invention specifically discloses a curve speed limiting method and system for an automatic driving vehicle, and the method comprises the steps: judging whether a current vehicle runs on a curve road section or not through a high-precision map and high-precision positioning information, and if yes, judging whether to start automatic driving or not; if automatic driving is started, whether current curve historical driving data exists or not is judged, and if the current curve historical driving data exists, curve information is matched according to high-precision positioning, and the current curve historical driving data is called; and taking the vehicle speed of the historical driving data and the minimum value of the road speed limit as a target vehicle speed, and carrying out automatic curve driving. The problem that an existing automatic driving vehicle cannot intelligently adjust the speed on a curve road section and is poor in experience can be solved, the safety and the intelligent level of automatic driving of the vehicle are improved, and the comfort of a driver is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving control, and more specifically, to a method and system for limiting the speed on a curve of an autonomous driving vehicle. Background Art

[0002] With the rapid development of intelligent driving cars, different drivers have different tolerance for speed on curved roads, resulting in different driving habits for different people and vehicles. However, the speed limit for curved roads for general autonomous driving vehicles is only limited to following vehicles. When there are no vehicles, the vehicle drives at the maximum speed limit of the current lane, resulting in different drivers having poor perception on curved roads. Therefore, it is of great significance to better fit the current driving habits of drivers in the autonomous driving state and enhance the driving experience of drivers. Summary of the invention

[0003] The present invention provides a method and system for limiting speed on a curve for an autonomous driving vehicle, which solves the problem that existing autonomous driving vehicles cannot intelligently adjust speed on curved road sections and have a poor driving experience. The method can improve the safety and intelligence level of the vehicle's autonomous driving and increase the comfort of the driver.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] A method for limiting the speed of an autonomous driving vehicle on a curve, comprising:

[0006] Determine whether the vehicle is currently traveling on a curved road section through high-precision maps and high-precision positioning information. If so, determine whether to turn on automatic driving;

[0007] If the automatic driving is turned on, it is determined whether there is historical driving data for the current curve. If so, the curve information is matched according to the high-precision positioning and the historical driving data for the current curve is retrieved;

[0008] The vehicle speed in historical driving data and the minimum value of the road speed limit are used as the target speed for automatic curve driving.

[0009] Preferably, it also includes:

[0010] When performing automatic driving on a curved road section, determine whether the vehicle has taken over. If so, update the historical driving data of the corresponding curved road section according to the average vehicle speed after taking over. If not, record the average speed of the automatic driving as historical data.

[0011] Preferably, it also includes:

[0012] When automatic driving is not turned on on a curved road section, it is determined in real time whether the vehicle is in a following state. If so, the current data is not recorded. If not, the vehicle speed of the current curve and the speed limit information of the high-precision map are recorded.

[0013] Preferably, it also includes:

[0014] After the vehicle exits the curved road section, determine whether there is historical data corresponding to the curve. If so, compare it with the historical driving data. If the speed difference is greater than 5m / h, update the historical driving data. If not, record the current curve driving data.

[0015] Preferably, it also includes:

[0016] When automatic driving is turned on on a curved road section, if there is no historical driving data for the current curve, the car will drive according to the current curve curvature or the minimum speed limit of the road attributes.

[0017] Preferably, it also includes:

[0018] When automatic driving is turned on on a curved road section and there is no historical driving data for the current curve, it is determined in real time whether the vehicle is taken over. If so, the vehicle driving data after takeover is not collected and recorded in the following state. If not, the vehicle driving data according to automatic driving is not recorded in the following state.

[0019] Preferably, it also includes:

[0020] Through high-precision maps and high-precision positioning information, data on the driver's historical curved road sections is collected, and when the vehicle is driving autonomously on a curved road section, the historical driving data corresponding to the current curved road section is matched to limit the speed on the curve.

[0021] Preferably, it also includes:

[0022] If the vehicle is on a curved road section, the process of recording the current curve speed is triggered, and the positioning coordinates of the beginning and end of the curve are recorded to form high-precision positioning data of the curved road section.

[0023] The present invention also provides a curve speed limiting system for an autonomous driving vehicle, using the curve speed limiting method described above, comprising: a domain controller, a high-precision navigation and positioning device, and a wire-controlled chassis;

[0024] The domain controller is respectively connected to the high-precision navigation and positioning device and the wire-controlled chassis signal;

[0025] The domain controller obtains a high-precision map and high-precision positioning of the corresponding road section through the high-precision navigation and positioning device, and records historical driving data of the corresponding curved road section in the automatic driving mode and the manual driving mode;

[0026] The domain controller sends a control instruction to the control-by-wire chassis in the automatic driving mode according to the vehicle speed and road speed limit of the historical driving data corresponding to the curved road section, so as to execute the curve speed limit.

[0027] Preferably, it also includes: an ADAS module;

[0028] The domain controller is connected to the ADAS module signal, and the domain controller controls the wire-controlled chassis to perform autonomous driving control according to the autonomous driving signal sent by the ADAS module.

[0029] The present invention provides a method and system for limiting the speed of an autonomous driving vehicle on a curve, which matches the historical driving data of the current curve through high-precision maps and high-precision positioning, and limits the speed of the curve during autonomous driving. This solves the problem that the existing autonomous driving vehicles cannot adjust the speed intelligently on curved sections, resulting in poor experience, and can improve the safety and intelligence level of the vehicle's autonomous driving and increase the comfort of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below.

[0031] Figure 1 It is a schematic diagram of a curve speed limiting method for an autonomous driving vehicle provided by the present invention.

[0032] Figure 2 This is a curve speed limit logic diagram for an autonomous driving vehicle provided by an embodiment of the present invention.

[0033] Figure 3 It is a schematic diagram of a curve speed limiting system for an autonomous driving vehicle provided by the present invention. DETAILED DESCRIPTION

[0034] In order to enable persons skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and implementation modes.

[0035] In view of the problem that current autonomous driving vehicles cannot intelligently adjust speed on curved roads and have a poor experience, the present invention provides a curve speed limit method and system for autonomous driving vehicles, which solves the problem that existing autonomous driving vehicles cannot intelligently adjust speed on curved roads and have a poor experience, can improve the safety and intelligence level of vehicle autonomous driving, and increase the comfort of the driver.

[0036] like Figure 1 and Figure 2 As shown, a method for limiting the speed of an autonomous driving vehicle on a curve includes:

[0037] S1: Determine whether the current vehicle is traveling on a curved road section through high-precision maps and high-precision positioning information. If so, determine whether to turn on automatic driving.

[0038] S2: If the automatic driving is turned on, determine whether there is historical driving data for the current curve. If so, match the curve information according to high-precision positioning and retrieve the historical driving data for the current curve.

[0039] S3: The vehicle speed in the historical driving data and the minimum value of the road speed limit are used as the target vehicle speed to perform automatic curve driving.

[0040] Specifically, high-precision maps and positioning are used to identify the current driving section of the vehicle, confirm whether there is historical driving data on the current curve section, and when automatic driving is turned on in the curve section and there is historical driving data on the current curve, the curve information is matched according to high-precision positioning, and the historical driving data of the current curve is retrieved. The output result of the historical driving data and the minimum value of the road speed limit are used as the target speed of the current curve, and the target speed is sent to the motion control module. The domain controller sends the control command to the wire-controlled chassis for execution. This method does not require information scheduling and large computing power in the cloud. At the same time, the collection of historical data is basically the real driving data of the driver of the vehicle. Driving data with poor comfort will also be taken over and replaced by the driver, ensuring the authenticity of the data. This method can improve the safety and intelligence level of vehicle automatic driving and increase the comfort of the driver.

[0041] The method also includes: determining whether the vehicle takes over when performing automatic driving on a curved road section. If so, updating the historical driving data of the corresponding curved road section according to the average vehicle speed after taking over; if not, recording the average vehicle speed of automatic driving as historical data.

[0042] The method also includes: when automatic driving is not turned on on a curved road section, determining in real time whether the vehicle is in a following state, if so, not recording the current data, if not, recording the vehicle speed of the current curve and the speed limit information of the high-precision map.

[0043] The method also includes: after the vehicle exits the curved road section, determining whether there is historical data corresponding to the curve, if so, comparing it with the historical driving data, updating the historical driving data when the speed difference is greater than 5m / h, if not, recording the current curve driving data.

[0044] In one embodiment, when automatic driving is not turned on, the high-precision map and high-precision positioning information are used to determine whether the current vehicle is traveling on a curved road section. If it is in a curved road section, the process of recording the current curve driving speed is triggered, and the high-precision positioning records the coordinates of the beginning of the curve. It is determined whether there is a vehicle in front of the current driving route and whether it is in a following state. If there is a following behavior, the data of the current curve is not recorded. If there is no vehicle on the path ahead, the current curve driving speed, map speed limit and other information are recorded. After exiting the curve, the current curve driving data collection task is completed. After exiting the curved road section, the current curve driving information and the coordinates of the end of the curve are recorded. If there is historical driving data, it is compared with the historical driving data. If the speed difference is more than 5m / h, the historical driving data is updated. If there is no historical driving data, the current curve driving information is recorded. All driving information collected and recorded includes whether the current curve is in the following vehicle driving state, and the current vehicle speed. If speeding, the vehicle speed records the maximum speed limit of the current road; the current road driving data is updated, and after exiting the current driving curve section, the average vehicle speed during the driving process is recorded and the data is recorded.

[0045] The method also includes: when automatic driving is turned on on a curved road section, if there is no historical driving data for the current curve, driving is carried out according to the current curve curvature or the minimum speed limit of the road attributes.

[0046] The method also includes: when automatic driving is turned on on a curved road section and there is no historical driving data for the current curve, it is determined in real time whether the vehicle is taken over. If so, the vehicle driving data after the takeover is not collected and recorded in the following state; if not, the vehicle driving data according to automatic driving is not recorded in the following state.

[0047] The method also includes: collecting data on the driver's historical curved road sections through high-precision maps and high-precision positioning information, and when the vehicle is driving automatically on the curved road section, matching the historical driving data corresponding to the current curved road section to limit the speed on the curve.

[0048] The method also includes: if the vehicle is in a curved road section, triggering the process of recording the current curved driving speed, and recording the positioning coordinates of the beginning and end of the curve to form high-precision positioning data of the curved road section.

[0049] It can be seen that the present invention provides a method for limiting the speed of an autonomous driving vehicle on a curve, which matches the historical driving data of the current curve through high-precision maps and high-precision positioning, and limits the speed of the curve during autonomous driving. This solves the problem that the existing autonomous driving vehicles cannot adjust the speed intelligently on curved sections and have a poor experience, and can improve the safety and intelligence level of the vehicle's autonomous driving and increase the comfort of the driver.

[0050] Accordingly, if Figure 3As shown, the present invention also provides a curve speed limit system for an autonomous driving vehicle, using the above-mentioned curve speed limit method, including: a domain controller, a high-precision navigation and positioning device, and a wire-controlled chassis. The domain controller is respectively connected to the high-precision navigation and positioning device and the wire-controlled chassis by signal. The domain controller obtains the high-precision map and high-precision positioning of the corresponding road section through the high-precision navigation and positioning device, and records the historical driving data of the corresponding curve section in the autonomous driving mode and the manual driving mode. In the autonomous driving mode, the domain controller sends a control instruction to the wire-controlled chassis according to the vehicle speed and road speed limit that match the historical driving data corresponding to the curve section to execute the curve speed limit.

[0051] In actual applications, the high-precision navigation and positioning device uses a Beidou satellite navigation device, and the wire-controlled chassis executes wire-controlled instructions to achieve wire-controlled driving, steering and braking of the chassis.

[0052] The system also includes: an ADAS module; the domain controller is signal-connected to the ADAS module, and the domain controller controls the controlled-by-wire chassis to perform autonomous driving control according to the autonomous driving signal sent by the ADAS module.

[0053] In practical applications, the ADAS module is used to control the vehicle for autonomous driving.

[0054] It can be seen that the present invention provides a curve speed limit system for an autonomous driving vehicle. The domain controller matches the current curve historical driving data according to the high-precision map and high-precision positioning of the high-precision navigation and positioning device, and controls the control-by-wire chassis to limit the speed on the curve during autonomous driving. This solves the problem that existing autonomous driving vehicles cannot intelligently adjust the speed on curved roads and have a poor experience. It can improve the safety and intelligence level of vehicle autonomous driving and increase the comfort of the driver.

[0055] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present invention.

Claims

1. A method for limiting the speed of an autonomous driving vehicle on a curve, characterized in that: include: Determine whether the vehicle is currently traveling on a curved road section through high-precision maps and high-precision positioning information. If so, determine whether to turn on automatic driving; If the automatic driving is turned on, it is determined whether there is historical driving data for the current curve. If so, the curve information is matched according to the high-precision positioning and the historical driving data for the current curve is retrieved; The vehicle speed in historical driving data and the minimum value of the road speed limit are used as the target speed for automatic curve driving.

2. The method for limiting the speed on a curve of an automatic driving vehicle according to claim 1, characterized in that: Also includes: When performing automatic driving on a curved road section, determine whether the vehicle has taken over. If so, update the historical driving data of the corresponding curved road section according to the average vehicle speed after taking over. If not, record the average speed of the automatic driving as historical data.

3. The method for limiting the speed on a curve of an automatic driving vehicle according to claim 2, characterized in that: Also includes: When automatic driving is not turned on on a curved road section, it is determined in real time whether the vehicle is in a following state. If so, the current data is not recorded. If not, the vehicle speed of the current curve and the speed limit information of the high-precision map are recorded.

4. The method for limiting the speed on a curve of an automatic driving vehicle according to claim 3, characterized in that: Also includes: After the vehicle exits the curved road section, determine whether there is historical data corresponding to the curve. If so, compare it with the historical driving data. If the speed difference is greater than 5m / h, update the historical driving data. If not, record the current curve driving data.

5. The method for limiting the speed on a curve of an automatic driving vehicle according to claim 4, characterized in that: Also includes: When automatic driving is turned on on a curved road section, if there is no historical driving data for the current curve, the car will drive according to the current curve curvature or the minimum speed limit of the road attributes.

6. The method for limiting the speed on a curve of an automatic driving vehicle according to claim 5, characterized in that: Also includes: When automatic driving is turned on on a curved road section and there is no historical driving data for the current curve, it is determined in real time whether the vehicle is taken over. If so, the vehicle driving data after takeover is not collected and recorded in the following state. If not, the vehicle driving data according to automatic driving is not recorded in the following state.

7. The method for limiting the speed on a curve of an automatic driving vehicle according to claim 6, characterized in that: Also includes: Through high-precision maps and high-precision positioning information, data on the driver's historical curved road sections is collected, and when the vehicle is driving autonomously on a curved road section, the historical driving data corresponding to the current curved road section is matched to limit the speed on the curve.

8. The method for limiting the speed on a curve of an automatic driving vehicle according to claim 7, characterized in that: Also includes: If the vehicle is on a curved road section, the process of recording the current curve speed is triggered, and the positioning coordinates of the beginning and end of the curve are recorded to form high-precision positioning data of the curved road section.

9. A curve speed limiting system for an autonomous driving vehicle, using the curve speed limiting method according to any one of claims 1 to 8, characterized in that: include: Domain controller, high-precision navigation and positioning device, and controlled-by-wire chassis; The domain controller is respectively connected to the high-precision navigation and positioning device and the wire-controlled chassis signal; The domain controller obtains a high-precision map and high-precision positioning of the corresponding road section through the high-precision navigation and positioning device, and records historical driving data of the corresponding curved road section in the automatic driving mode and the manual driving mode; The domain controller sends a control instruction to the control-by-wire chassis in the automatic driving mode according to the vehicle speed and road speed limit of the historical driving data corresponding to the curved road section, so as to execute the curve speed limit.

10. The curve speed limiting system for an automatic driving vehicle according to claim 9, characterized in that: Also includes: ADAS module; The domain controller is connected to the ADAS module signal, and the domain controller controls the wire-controlled chassis to perform autonomous driving control according to the autonomous driving signal sent by the ADAS module.

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