A method and system for limiting speed on curves for an autonomous driving vehicle

Abstract

This invention discloses a method and system for limiting speed on curves in autonomous vehicles. The method includes: determining whether the vehicle is currently traveling on a curved road section using high-precision maps and high-precision positioning information; if so, determining whether to activate autonomous driving; if autonomous driving is activated, determining whether historical driving data for the current curve exists; if so, retrieving the historical driving data for the current curve by matching curve information based on high-precision positioning; and using the minimum value between the vehicle speed in the historical driving data and the road speed limit as the target speed for automatic curve driving. This invention solves the problem of existing autonomous vehicles' inability to intelligently adjust speed on curved roads, resulting in a poor user experience, thereby improving the safety and intelligence level of autonomous driving and increasing driver comfort.

Description

Technical Field

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

[0002] With the rapid development of intelligent driving vehicles, different drivers have varying tolerances for speed on curves, leading to diverse driving habits for each driver and vehicle. However, most autonomous vehicles only limit speed on curves when there are other vehicles around; otherwise, they operate at the maximum speed limit for the current lane. This results in a poor driving experience for different drivers on curves. Therefore, it is of great significance to find a system that better matches the driving habits of current drivers in autonomous driving mode and enhances the driving experience. Summary of the Invention

[0003] This invention provides a method and system for limiting the speed of autonomous vehicles on curves, which solves the problem that existing autonomous vehicles cannot intelligently adjust their speed on curves, resulting in a poor user experience. This invention can improve the safety and intelligence level of autonomous driving and increase driver comfort.

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

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

[0006] The system uses high-precision maps and positioning information to determine whether the vehicle is currently traveling on a curved road. If so, it determines whether to activate autonomous driving.

[0007] If autonomous driving is enabled, it checks whether there is historical driving data for the current curve. If so, it matches the curve information based on high-precision positioning and retrieves the historical driving data for the current curve.

[0008] The minimum of historical driving data and road speed limits is used as the target speed for automatic cornering.

[0009] Preferred options also include:

[0010] When performing autonomous driving on curved roads, it is determined whether the vehicle takes over. If so, the historical driving data of the corresponding curved road section is updated according to the average speed after takeover. If not, the average speed of autonomous driving is recorded as historical data.

[0011] Preferred options also include:

[0012] When autonomous driving is not engaged on a curved road section, the system determines in real time whether the vehicle is in a following state. If it is, the current data is not recorded. If not, the system records the vehicle's speed on the current curve and the speed limit information on the high-precision map.

[0013] Preferred options also include:

[0014] After the vehicle exits the curved section, it checks whether there is historical data for the corresponding curve. If so, it compares with the historical driving data. If the speed difference is greater than 5 m / h, the historical driving data is updated. If not, the current curve driving data is recorded.

[0015] Preferred options also include:

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

[0017] Preferred options also include:

[0018] When autonomous driving is activated on a curved road section and there is no historical driving data for the current curve, the system determines in real time whether the vehicle takes over. If it does, the system does not collect and record the vehicle's driving data after takeover in the following mode. If it does not, the system does not record the vehicle's driving data in the following mode according to the autonomous driving system.

[0019] Preferred options also include:

[0020] By using 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 set the speed limit for the curve.

[0021] Preferred options also include:

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

[0023] The present invention also provides a curve speed limiting system for autonomous vehicles, using the above-mentioned curve speed limiting method, comprising: a domain controller, a high-precision navigation and positioning device, and a drive-by-wire chassis;

[0024] The domain controller is connected to the high-precision navigation and positioning device and the wire-controlled chassis via signals, respectively.

[0025] The domain controller obtains high-precision maps and high-precision positioning of the corresponding road segment through the high-precision navigation and positioning device, and records historical driving data of the corresponding curved road segment in both autonomous driving mode and manual driving mode.

[0026] In autonomous driving mode, the domain controller sends control commands to the drive-by-wire chassis based on the vehicle speed and road speed limit corresponding to the historical driving data of the matching curve segment, so as to execute the curve speed limit.

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

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

[0029] This invention provides a method and system for limiting speed on curves in autonomous vehicles. By matching current curve historical driving data with high-precision maps and positioning, speed limits are implemented during autonomous driving. This addresses the problem of existing autonomous vehicles' inability to intelligently adjust speed on curves, resulting in a poor driving experience. It improves the safety and intelligence level of autonomous driving, and increases driver comfort. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below.

[0031] Figure 1 This is a schematic diagram of a curve speed limiting method for autonomous vehicles provided by the present invention.

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

[0033] Figure 3 This is a schematic diagram of a curve speed limiting system for an autonomous vehicle provided by the present invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and implementation methods.

[0035] To address the issue of poor user experience caused by the inability of current autonomous vehicles to intelligently adjust speed on curved roads, this invention provides a method and system for limiting the speed of autonomous vehicles on curved roads. This solves the problem of poor user experience caused by the inability of existing autonomous vehicles to intelligently adjust speed on curved roads, improves the safety and intelligence level of autonomous driving, and increases driver comfort.

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

[0037] S1: Determine whether the vehicle is currently driving on a curved road section using high-precision maps and high-precision positioning information. If so, determine whether to activate autonomous driving.

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

[0039] S3: Uses the minimum of historical driving data and road speed limits as the target speed for automatic cornering.

[0040] Specifically, high-precision maps and positioning are used to identify the current vehicle's driving segment and confirm the existence of historical curve driving data for that segment. When autonomous driving is activated on a curve segment and historical curve driving data is available, curve information is matched based on high-precision positioning. The historical curve driving data is retrieved, and the minimum value between the output of the historical driving data and the road speed limit is used as the target speed for the current curve. The target speed is then sent to the motion control module, and the domain controller issues control commands for execution by the drive-by-wire chassis. This method does not require cloud-based information scheduling or large computing power. Furthermore, the historical data collected is essentially the driver's actual driving data; driving data indicating poor comfort is replaced by the driver, ensuring data authenticity. This method improves the safety and intelligence level of autonomous driving and increases driver comfort.

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

[0042] The method also includes: when the autonomous driving is not activated on the curved road section, it is determined in real time whether the vehicle is in a following state. If it is, the current data is not recorded. If not, the vehicle speed on the current curve and the speed limit information of the high-precision map are recorded.

[0043] The method also includes: after the vehicle exits the curved section, determining whether there is historical data for the corresponding curve. If so, comparing it with the historical driving data, updating the historical driving data when the speed difference is greater than 5 m / h; otherwise, recording the current curve driving data.

[0044] In one embodiment, when autonomous driving is not activated, the system uses high-precision maps and positioning information to determine whether the vehicle is currently traveling on a curved road. If it is, the system triggers the recording of the current speed on the curve, and the high-precision positioning records the coordinates at the start of the curve. The system then checks if there are any vehicles ahead and whether the vehicle is following another vehicle. If so, the data for the current curve is not recorded. If there are no vehicles ahead, the system records the current speed on the curve, the map speed limit, and other information. After exiting the curve, the system completes the data collection for the current curve. After exiting the curve, the system records the current curve information and the coordinates at the end of the curve. If historical driving data exists, it is compared with the historical data. If the speed difference is greater than 5 m / h, the historical driving data is updated. If no historical driving data exists, the current curve information is recorded. All driving information is collected and recorded, including whether the vehicle is following another vehicle on the current curve, the current speed, and if the vehicle is speeding, the maximum speed limit of the current road is recorded. The current road driving data is updated, and after exiting the current curve, the average speed during the driving process is recorded and this data is recorded.

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

[0046] The method also includes: when autonomous driving is activated on a curved road section and there is no historical driving data for the current curve, determining in real time whether the vehicle takes over. If it does, the vehicle driving data after takeover is not collected and recorded in the following state. If it does not, the vehicle driving data in the following state according to the autonomous driving system is not recorded.

[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 matching the historical driving data corresponding to the current curved road section to limit the speed on the curve when the vehicle is driving autonomously on a curved road section.

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

[0049] Therefore, this invention provides a method for limiting the speed of autonomous vehicles on curves. By matching the current curve's historical driving data with high-precision maps and high-precision positioning, the method limits the speed on curves during autonomous driving. This solves the problem of existing autonomous vehicles not being able to intelligently adjust speed on curves, resulting in a poor user experience. It improves the safety and intelligence level of autonomous driving and increases driver comfort.

[0050] Accordingly, such as Figure 3As shown, the present invention also provides a curve speed limiting system for autonomous vehicles, using the aforementioned curve speed limiting method, comprising: a domain controller, a high-precision navigation and positioning device, and a drive-by-wire chassis. The domain controller is signal-connected to both the high-precision navigation and positioning device and the drive-by-wire chassis. The domain controller acquires high-precision maps and high-precision positioning of the corresponding road segment through the high-precision navigation and positioning device, and records historical driving data of the corresponding curve segment in both autonomous driving mode and manual driving mode. In autonomous driving mode, the domain controller sends control commands to the drive-by-wire chassis based on the vehicle speed and road speed limit corresponding to the historical driving data of the curve segment to execute the curve speed limit.

[0051] In practical applications, the high-precision navigation and positioning device uses the Beidou satellite navigation system and a drive-by-wire chassis to execute drive-by-wire commands, thereby realizing drive-by-wire 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 drive-by-wire chassis to perform autonomous driving control according to the autonomous driving signals sent by the ADAS module.

[0053] In practical applications, ADAS modules are used to control vehicles for autonomous driving.

[0054] As can be seen, this invention provides a curve speed limiting system for autonomous vehicles. The domain controller matches the current curve's historical driving data with the high-precision map and high-precision positioning data from the high-precision navigation and positioning device, and controls the drive-by-wire chassis to limit the speed on curves during autonomous driving. This solves the problem of existing autonomous vehicles not being able to intelligently adjust speed on curves, resulting in a poor user experience. It improves the safety and intelligence level of autonomous driving, and increases driver comfort.

[0055] The structure, features, and effects of the present invention have been described in detail above with reference to the embodiments shown in the figures. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, shall be within the protection scope of the present invention as long as they do not exceed the spirit covered by the specification and figures.

Claims

1. A method for limiting the speed of an autonomous vehicle on curves, characterized in that, include: The system uses high-precision maps and positioning information to determine whether the vehicle is currently traveling on a curved road. If so, it determines whether to activate autonomous driving. If autonomous driving is enabled, it checks whether there is historical driving data for the current curve. If so, it matches the curve information based on high-precision positioning and retrieves the historical driving data for the current curve. The minimum of historical driving data and road speed limit is used as the target speed for automatic cornering. When performing autonomous driving on curved road sections, determine whether the vehicle takes over. If so, update the historical driving data of the corresponding curved road section according to the average speed after taking over. If not, record the average speed of autonomous driving as historical data. When autonomous driving is not engaged on a curved road section, the system determines in real time whether the vehicle is in a following state. If it is, the current data is not recorded. If not, the system records the vehicle's speed on the current curve and the speed limit information on the high-precision map.

2. The method for limiting the speed of an autonomous vehicle on curves according to claim 1, characterized in that, Also includes: After the vehicle exits the curved section, it checks whether there is historical data for the corresponding curve. If so, it compares with the historical driving data. If the speed difference is greater than 5 m / h, the historical driving data is updated. If not, the current curve driving data is recorded.

3. The method for limiting the speed of an autonomous vehicle on curves according to claim 2, characterized in that, Also includes: When autonomous driving is activated on a curved road section, if there is no historical driving data for the current curve, the vehicle will drive according to the current curve curvature or the minimum speed limit of the road attribute.

4. The method for limiting the speed of an autonomous vehicle on curves according to claim 3, characterized in that, Also includes: When autonomous driving is activated on a curved road section and there is no historical driving data for the current curve, the system determines in real time whether the vehicle takes over. If it does, the system does not collect and record the vehicle's driving data after takeover in the following mode. If it does not, the system does not record the vehicle's driving data in the following mode according to the autonomous driving system.

5. The method for limiting the speed of an autonomous vehicle on curves according to claim 4, characterized in that, Also includes: By using 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 set the speed limit for the curve.

6. The method for limiting the speed of an autonomous vehicle on curves according to claim 5, characterized in that, Also includes: If the vehicle is in a curved section of road, the process of recording the current speed of the vehicle in the curve is triggered, and the positioning coordinates at the beginning and end of the curve are recorded to form high-precision positioning data of the curved section.

7. A curve speed limiting system for an autonomous vehicle, using the curve speed limiting method according to any one of claims 1 to 6, characterized in that, include: Domain controller, high-precision navigation and positioning device, and wire-controlled chassis; The domain controller is connected to the high-precision navigation and positioning device and the wire-controlled chassis via signals, respectively. The domain controller obtains high-precision maps and high-precision positioning of the corresponding road segment through the high-precision navigation and positioning device, and records historical driving data of the corresponding curved road segment in both autonomous driving mode and manual driving mode. In autonomous driving mode, the domain controller sends control commands to the drive-by-wire chassis based on the vehicle speed and road speed limit corresponding to the historical driving data of the matching curve segment, so as to execute the curve speed limit.

8. The curve speed limiting system for autonomous vehicles according to claim 7, characterized in that, Also includes: ADAS module; The domain controller is signal-connected to the ADAS module, and the domain controller controls the drive-by-wire chassis to perform autonomous driving control according to the autonomous driving signals sent by the ADAS module.

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