Vehicle speed limiting method and device based on ramp scene and electronic equipment
By obtaining ramp information and planning paths, the positional relationship between the vehicle and the ramp is determined, and when the target scene exists, the vehicle speed limit value is adaptively set based on the preset scene speed limit correspondence relationship, which solves the problem of mismatch in the ramp speed limit settings in the prior art, and achieves a good match between the vehicle driving speed and the ramp scene.
Patent Information
- Application Number
- CN202510046792.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2025-04-11
AI Technical Summary
When a vehicle enters or leaves the ramp, the existing intelligent driving technology sets a fixed speed limit value, resulting in poor matching between the vehicle's driving speed and the ramp scene, and it is impossible to adapt to complex ramp scenes.
By obtaining the ramp information corresponding to the ramp included in the road on which the vehicle is currently traveling and the vehicle's current planned path, the position relationship between the vehicle and the ramp is determined, and when the target scene corresponding to the position relationship exists, the target speed limit value corresponding to the target scene is determined based on the preset scene speed limit correspondence relationship, and the current speed limit value of the vehicle is set to the target speed limit value.
According to the ramp scene where the vehicle is actually driving, the speed limit value corresponding to the ramp scene is adaptively set, so that the vehicle's driving speed is more matched with the ramp scene, and avoiding the problem of excessive or slow speed when the vehicle is driving in the ramp scene.
Smart Images
Figure CN119811091A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of intelligent vehicle technology, and in particular to a vehicle speed limiting method, device and electronic equipment based on a ramp scenario. Background Art
[0002] Safety is a key requirement in the field of autonomous driving, and vehicle speed largely affects driving safety. Current technology can obtain road information in various ways, and can accurately identify various complex scenarios based on road information, such as construction areas, tunnels, large curvature curves, ramp areas, and mixed urban road scenarios. Therefore, how to accurately limit vehicle speed is crucial to autonomous driving.
[0003] There are many ramps on roads such as highways and urban ring roads, through which vehicles can merge into or exit the main road. Current intelligent driving technology usually sets a fixed speed limit to ensure vehicle safety when vehicles enter or exit the ramp, resulting in poor matching between the vehicle's speed and the actual ramp scene, and is unable to adapt to complex ramp scenes. Summary of the invention
[0004] In view of this, in order to solve some or all of the above technical problems, the embodiments of the present application provide a vehicle speed limit method, device, electronic device and storage medium based on a ramp scenario.
[0005] In a first aspect, an embodiment of the present application provides a vehicle speed limit method based on a ramp scenario, the method comprising: obtaining ramp information corresponding to the ramp included in the road on which the vehicle is currently traveling, and the vehicle's current planned path; determining the positional relationship between the vehicle and the ramp based on the ramp information and the planned path; determining whether there is a target scene corresponding to the positional relationship in at least one preset scenario; if there is a target scene, determining a target speed limit value corresponding to the target scene based on a preset scene speed limit correspondence relationship; and setting the vehicle's current speed limit value as the target speed limit value.
[0006] In one possible implementation, based on a preset scene speed limit correspondence, determining a target speed limit value corresponding to a target scene includes: if the target scene is the starting point of an entrance area for a vehicle to enter a ramp, and the planned path does not pass through the ramp, or the target scene is a vehicle entering a ramp, determining whether there is at least one corresponding speed limit information for the current position of the vehicle; if there is at least one speed limit information, determining the target speed limit value corresponding to the target scene based on the at least one speed limit information.
[0007] In a possible implementation, determining a target speed limit value corresponding to a target scenario based on at least one speed limit information includes: determining a maximum speed limit value as the target speed limit value from speed limit values respectively included in the at least one speed limit information.
[0008] In one possible implementation, after determining whether there is at least one speed limit information corresponding to the current position of the vehicle, the method further includes: if there is no at least one speed limit information, obtaining a default speed limit value corresponding to the target scene, and determining the default speed limit value as the target speed limit value.
[0009] In one possible implementation, determining a target speed limit value corresponding to a target scenario includes: if the target scenario is a starting point of an entrance area for a vehicle to enter a ramp, and the planned path passes through the ramp, or the target scenario is a starting point of an exit area for a vehicle to enter a ramp, obtaining a default speed limit value corresponding to the target scenario; and determining the target speed limit value based on the default speed limit value.
[0010] In one possible implementation, if the target scene is the starting point of the entrance area of the ramp for the vehicle, and the planned path passes through the ramp, or the target scene is the starting point of the exit area of the ramp for the vehicle, obtaining a default speed limit value corresponding to the target scene includes: if the target scene is the starting point of the entrance area for the vehicle to enter the ramp, and the planned path passes through the ramp, determining the end point of the entrance area of the ramp based on the ramp information; obtaining a preset first speed limit value corresponding to the starting point of the entrance area and a second speed limit value corresponding to the end point of the entrance area, and determining the first speed limit value and the second speed limit value as the default speed limit values, wherein the first speed limit value is greater than the second speed limit value; determining the target speed limit value based on the default speed limit value, including: determining the first speed limit value as the target speed limit value when the vehicle travels to the starting point of the entrance area, and determining the second speed limit value as the target speed limit value when the vehicle travels to the end point of the entrance area.
[0011] In one possible implementation, if the target scene is the starting point of the entrance area of the ramp for the vehicle, and the planned path passes through the ramp, or the target scene is the starting point of the exit area of the ramp for the vehicle, obtaining the default speed limit value corresponding to the target scene includes: if the target scene is the starting point of the exit area of the ramp for the vehicle, based on the ramp information, determining the starting point of the exit area of the ramp and the end point of the exit area; obtaining a preset third speed limit value corresponding to the starting point of the exit area and a fourth speed limit value corresponding to the end point of the exit area, and determining the third speed limit value and the fourth speed limit value as the default speed limit values, wherein the third speed limit value is less than the fourth speed limit value; based on the default speed limit value, determining the target speed limit value, including: determining the third speed limit value as the target speed limit value when the vehicle travels to the starting point of the exit area, and determining the fourth speed limit value as the target speed limit value when the vehicle travels to the end point of the exit area.
[0012] In one possible implementation, after determining the third speed limit value as the target speed limit value when the vehicle reaches the starting point of the exit area, and determining the fourth speed limit value as the target speed limit value when the vehicle reaches the end point of the exit area, the method further includes: if there is at least one corresponding speed limit information at the end point of the exit area, based on the at least one speed limit information, determining a new target speed limit value after the vehicle reaches the end point of the exit area.
[0013] In a second aspect, an embodiment of the present application provides a vehicle speed limit device based on a ramp scenario, the device comprising: an acquisition module, used to obtain ramp information corresponding to the ramp included in the road on which the vehicle is currently traveling, and the vehicle's current planned path; a first determination module, used to determine the positional relationship between the vehicle and the ramp based on the ramp information and the planned path; a second determination module, used to determine whether there is a target scene corresponding to the positional relationship in at least one preset scenario; a third determination module, used to determine, if the target scene exists, a target speed limit value corresponding to the target scene based on a preset scene speed limit correspondence relationship; a setting module, used to set the vehicle's current speed limit value to the target speed limit value.
[0014] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory for storing a computer program; a processor for executing the computer program stored in the memory, and when the computer program is executed, the method of any embodiment of the vehicle speed limit method based on the ramp scenario of the above-mentioned first aspect of the present application is implemented.
[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a method of any embodiment of the vehicle speed limiting method based on a ramp scenario as described in the first aspect above is implemented.
[0016] In a fifth aspect, an embodiment of the present application provides a computer program, which includes a computer readable code. When the computer readable code runs on a device, the processor in the device implements a method as in any embodiment of the vehicle speed limit method based on a ramp scenario in the first aspect mentioned above.
[0017] The vehicle speed limit method, device, electronic device and storage medium based on the ramp scenario provided in the embodiment of the present application obtain ramp information and a planned path, determine the positional relationship between the vehicle and the ramp based on the ramp information and the planned path, and then determine the target speed limit value corresponding to the target scenario based on the scenario speed limit correspondence when the positional relationship has a corresponding target scenario, and finally set the current speed limit value of the vehicle to the target speed limit value. The embodiment of the present application realizes adaptively setting the speed limit value corresponding to the ramp scenario according to the ramp scenario in which the vehicle is actually traveling. Compared with the fixed ramp speed limit, the embodiment of the present application can make the vehicle's driving speed more matched with the ramp scenario, avoiding the problem of the vehicle speeding too fast or too slow when traveling in the ramp scenario. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0020] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.
[0021] Figure 1 A schematic diagram of a process flow of a vehicle speed limiting method based on a ramp scenario provided in an embodiment of the present application;
[0022] Figure 2 A schematic flow chart of another vehicle speed limiting method based on a ramp scenario provided in an embodiment of the present application;
[0023] Figure 3A and Figure 3B A schematic diagram of a ramp entrance area provided in an embodiment of the present application;
[0024] Figure 3C , Figure 3D , Figure 3E A schematic diagram of a ramp exit area provided in an embodiment of the present application;
[0025] Figure 4 A schematic flow chart of another vehicle speed limiting method based on a ramp scenario provided in an embodiment of the present application;
[0026] Figure 5 A schematic flow chart of another vehicle speed limiting method based on a ramp scenario provided in an embodiment of the present application;
[0027] Figure 6 A schematic flow chart of another vehicle speed limiting method based on a ramp scenario provided in an embodiment of the present application;
[0028] Figure 7 A schematic diagram of the structure of a vehicle speed limiting device based on a ramp scenario provided in an embodiment of the present application;
[0029] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0030] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the numerical expressions and the numerical values described in these embodiments do not limit the scope of the present application.
[0031] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of the present application are only used to distinguish between different steps, devices, modules and other objects, and do not represent any specific technical meanings, nor do they indicate the logical order between them.
[0032] It should also be understood that in this embodiment, “plurality” may refer to two or more than two, and “at least one” may refer to one, two or more than two.
[0033] It should also be understood that any component, data or structure mentioned in the embodiments of the present application can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.
[0034] In addition, the term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.
[0035] It should also be understood that the description of the various embodiments in this application focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.
[0036] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.
[0037] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the above-mentioned technologies, methods, and equipment should be considered as part of the specification.
[0038] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.
[0039] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. To facilitate the understanding of the embodiments of the present application, the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0040] In order to solve the technical problem in the prior art that the speed limit value cannot adapt to various ramp scenarios, the present application provides a vehicle speed limit method based on the ramp scenario, which can adaptively set the speed limit value corresponding to the ramp scenario, so that the vehicle's driving speed is more matched with the ramp scenario.
[0041] Figure 1 A flow chart of a vehicle speed limit method based on a ramp scenario provided in an embodiment of the present application. The method can be applied to a vehicle and executed by a controller on the vehicle, or it can be executed by one or more electronic devices such as a server, a smart phone, a laptop computer, etc. These electronic devices can be connected to the vehicle for communication, and after executing the method, the obtained target speed limit value is sent to the vehicle.
[0042] In addition, the execution subject of the present method may be hardware or software. When the execution subject is hardware, the execution subject may be one or more of the electronic devices. For example, a single electronic device may execute the present method, or a plurality of electronic devices may cooperate with each other to execute the present method. When the execution subject is software, the present method may be implemented as a plurality of software or software modules, or as a single software or software module. No specific limitation is made herein.
[0043] like Figure 1 As shown, the method specifically includes:
[0044] Step 101, obtaining ramp information corresponding to the ramp included in the road on which the vehicle is currently traveling, and the current planned path of the vehicle.
[0045] In this embodiment, the ramp information can be obtained from the map information, that is, according to the current positioning information of the vehicle, it is determined from the map information whether there is a ramp within a preset range around the vehicle, and if so, the ramp information is extracted. Alternatively, the ramp information can also be obtained by identifying the road image taken by the camera on the vehicle, the point cloud data collected by the laser radar, etc. Optionally, the ramp information can include various types of information such as the overall outline information of the ramp, the exit position information, the entrance position information, the lane lines on the ramp, and the road sign information.
[0046] The above-mentioned planned path may be a path obtained by path planning by a navigation device. The current planned path of the vehicle is the path used as a driving reference when the vehicle is currently driving.
[0047] Step 102: Determine the positional relationship between the vehicle and the ramp based on the ramp information and the planned path.
[0048] In this embodiment, the position of the vehicle in the above-mentioned planned path can be determined according to the positioning information of the vehicle, and then the positional relationship between the vehicle and the ramp can be determined according to the ramp range represented by the ramp information.
[0049] Optionally, the position relationship may indicate whether the vehicle is in a ramp, the distance between the vehicle and an entrance or exit of the ramp, whether the vehicle will enter the ramp, etc.
[0050] Step 103: Determine whether there is a target scene corresponding to the position relationship in at least one preset scene.
[0051] In this embodiment, each of the at least one scenario corresponds to a positional relationship between a vehicle and a ramp, and based on the positional relationship, it can be determined in real time whether the scene the vehicle is currently in matches a certain target scene in the at least one scenario. As an example, the at least one scenario may include but is not limited to at least one of the following: within a certain range before the vehicle enters the entrance of the ramp and the planned path does not pass through the ramp, within a certain range before the vehicle enters the entrance of the ramp and the planned path passes through the ramp, the vehicle enters the ramp, within a certain range before the vehicle enters the exit of the ramp, etc.
[0052] Step 104: If there is a target scene, a target speed limit value corresponding to the target scene is determined based on a preset scene speed limit correspondence relationship.
[0053] In this embodiment, the scenario speed limit correspondence relationship represents the correspondence relationship between each scenario in the at least one scenario and the speed limit strategy, and the correspondence relationship can be recorded in a form such as a table.
[0054] The target scenario may correspond to a speed limit strategy, which is used to determine how to set the speed limit value of the vehicle in the target scenario. The target speed limit value may be a pre-set fixed speed limit value corresponding to the target scenario, or may be determined in real time from high-precision maps, section speed limits, electronic eye speed limits, recognized speed limit signs and other information based on the road conditions of the current road where the vehicle is located, as the target speed limit value.
[0055] When the vehicle is traveling within the scope of the target scenario, the target speed limit value can be fixed or adjusted in real time. For example, when the vehicle reaches the starting point of the ramp entrance, the target speed limit value is A, and when the vehicle reaches the end point of the ramp entrance, the target speed limit value is B, where A<B.
[0056] Step 105: Set the current speed limit value of the vehicle as the target speed limit value.
[0057] In this embodiment, after the target speed limit value is obtained, the current speed limit value can be set as the target speed limit value in real time. According to the target speed limit value, the controller on the vehicle can control the speed of the vehicle to adjust to not exceed the target speed limit value.
[0058] The vehicle speed limit method based on the ramp scenario provided in the embodiment of the present application obtains ramp information and a planned path, determines the positional relationship between the vehicle and the ramp based on the ramp information and the planned path, and then determines the target speed limit value corresponding to the target scenario based on the scenario speed limit correspondence when the positional relationship has a corresponding target scenario, and finally sets the current speed limit value of the vehicle to the target speed limit value. The embodiment of the present application realizes adaptively setting the speed limit value corresponding to the ramp scenario according to the ramp scenario in which the vehicle is actually traveling. Compared with the fixed ramp speed limit, the embodiment of the present application can make the vehicle's driving speed more matched with the ramp scenario, avoiding the problem of the vehicle speeding too fast or too slow when traveling in the ramp scenario.
[0059] In some optional implementations of this embodiment, such as Figure 2 As shown, step 104 includes:
[0060] Step 1041, if the target scene is the starting point of the entrance area of the vehicle entering the ramp, and the planned path does not pass through the ramp, or the target scene is the vehicle entering the ramp, determine whether there is at least one corresponding speed limit information for the current position of the vehicle.
[0061] The above scenario where the vehicle enters the starting point of the ramp entrance area and the planned path does not pass through the ramp is called scenario 1. Scenario 1 means that the vehicle drives according to the planned path and does not enter the ramp when approaching the ramp section, but continues to drive along the main road. At this time, if the vehicle enters the starting point of the ramp entrance area, the step of determining the target speed limit value is started. Figure 3A and Figure 3BAs shown in FIG. 1 , L1 is the starting point of the ramp entrance area, L2 is the end point of the ramp entrance area, and the area between L1 and L2 represents the ramp entrance area. The positions of L1 and L2 can be arbitrarily set according to the actual range of the ramp, such as Figure 3A and Figure 3B As shown, the actual entrance range of the ramp is the area between L1' and L2', and the distance a between L1 and L1' and the distance b between L2 and L2' can be set arbitrarily. When the vehicle reaches L1, the subsequent steps of determining the target speed limit value can be started.
[0062] The above scenario of the vehicle entering the ramp is referred to as Scenario 2. Scenario 2 is when the vehicle enters the ramp section according to the planned path, or the driver controls the vehicle to enter the ramp section. Figure 3C , Figure 3D and Figure 3E As shown, when the vehicle enters the ramp, the step of determining the target speed limit value can be started.
[0063] The at least one speed limit information may be speed limit information determined from road information acquired in real time. For example, road information may be acquired from a high-precision map, a navigation map, or an ADAS map, or road information may be acquired by using computer vision technology to recognize road images captured by a camera. The road information may include speed limit sign information, section speed limit information, electronic eye speed limit information, and the like.
[0064] Step 1042: If at least one type of speed limit information exists, determine a target speed limit value corresponding to the target scenario based on the at least one type of speed limit information.
[0065] Specifically, after obtaining at least one speed limit information, a fusion operation can be performed on the at least one speed limit information to determine the target speed limit value. As an example, an average value of the at least one speed limit information can be taken as the target speed limit value.
[0066] This embodiment determines at least one speed limit information in real time when the target scenario is that the vehicle passes through the ramp but does not enter the ramp, or the vehicle enters the ramp, and determines the target speed limit value according to the speed limit information. This can make the speed limit value more closely match the actual road conditions when the vehicle is traveling in these two scenarios, thereby avoiding the problem of the vehicle speeding too high or too low.
[0067] In some optional implementations of this embodiment, step 1042 may be performed as follows:
[0068] A maximum speed limit value is determined as a target speed limit value from among the speed limit values respectively included in the at least one type of speed limit information.
[0069] As an example, if the speed limit value on the speed limit sign identified by machine vision is 70, and the interval speed limit value obtained from the map is 60, the target speed limit value can be set to 70.
[0070] This embodiment uses the maximum speed limit value determined in at least one speed limit information as the target speed limit value, so that when the vehicle passes the ramp but does not enter the ramp, the speed limit sign at the ramp entrance or the ramp speed limit value can be avoided, and the vehicle speed can be avoided to avoid sudden changes in speed, thereby improving the smoothness of vehicle driving. When the vehicle is driving on the ramp, it can drive at a faster speed limit value to avoid the vehicle speed being too slow due to the mismatch between the vehicle speed and the actual road.
[0071] In some optional implementations of this embodiment, after step 1041, the method further includes:
[0072] If at least one speed limit information does not exist, a default speed limit value corresponding to the target scenario is obtained, and the default speed limit value is determined as the target speed limit value.
[0073] That is, when the vehicle is in the above scenario 1 or scenario 2, if the machine vision information, map information and other auxiliary driving information do not limit the vehicle speed, the preset default speed limit value can be used as the target speed limit value. The default speed limit value can be a pre-set fixed speed limit value, or it can be a speed limit value determined by statistics of the driver's historical habitual speed in the above two scenarios.
[0074] Usually, the above scenario one is driving on the main road, and scenario two is driving on the ramp. Therefore, the default speed limit value corresponding to scenario one is greater than the default speed limit value corresponding to scenario two.
[0075] This embodiment uses the default speed limit value as the target speed limit value when the speed limit information is not obtained, thereby ensuring that the vehicle speed is not too fast when the vehicle is traveling on a road including a ramp, thereby reducing the risk of accidents.
[0076] In some optional implementations of this embodiment, such as Figure 4 As shown, step 104 includes:
[0077] Step 1043, if the target scene is the starting point of the entrance area of the ramp for the vehicle, and the planned path passes through the ramp, or the target scene is the starting point of the exit area of the ramp for the vehicle, obtain the default speed limit value corresponding to the target scene.
[0078] The above scenario where the vehicle enters the starting point of the ramp entrance area and the planned path passes through the ramp is referred to as scenario three. Scenario three is that the vehicle is driving according to the planned path and is about to enter the ramp, or the driver controls the vehicle to enter the ramp, resulting in a change in the planned path. At this time, if the vehicle enters the starting point of the ramp entrance area, the step of determining the target speed limit value is started. Figure 3Aand Figure 3B As shown, before the vehicle enters the ramp, when it reaches L1, the subsequent steps of determining the target speed limit value can be started.
[0079] The above scenario where the vehicle enters the exit area of the ramp is referred to as scenario 4. Scenario 4 is when the vehicle exits the ramp section according to the planned path, or when the driver controls the vehicle to exit the ramp section. Figure 3C , Figure 3D and Figure 3E As shown in FIG. 1 , L3 is the starting point of the ramp exit area, L4 is the end point of the ramp exit area, and the area between L3 and L4 represents the ramp exit area. The positions of L3 and L4 can be arbitrarily set according to the actual range of the ramp exit, such as Figure 3C , Figure 3D and Figure 3E As shown, the actual exit range of the ramp starts from L3 and extends backward for a distance c to L4. When the vehicle reaches L3, the subsequent steps of determining the target speed limit value can be started.
[0080] The default speed limit values corresponding to scenario three and scenario four can be set arbitrarily, and the default speed limit value can be a pre-set fixed speed limit value, or a speed limit value determined after statistics of the driver's historical habitual speed in the above two scenarios.
[0081] Step 1044, determining a target speed limit value based on the default speed limit value.
[0082] Specifically, the default speed limit value can be directly used as the target speed limit value, or in the above scenario three, the default speed limit value can be used as the starting speed limit value, and the target speed limit value can be gradually reduced as the vehicle travels, or in the above scenario four, the default speed limit value can be used as the starting speed limit value, and the target speed limit value can be gradually increased as the vehicle travels.
[0083] This embodiment determines the current target speed limit value according to the default speed limit value when the target scenario is that the vehicle passes through the entrance area of the ramp and enters the ramp, or when the vehicle is driving in the ramp and is about to exit the ramp. When the vehicle is driving in these two scenarios, the change trend of the vehicle speed is adapted to the entrance or exit of the ramp, thereby effectively reducing the risk of accidents caused by excessively high or low speeds.
[0084] In some optional implementations of this embodiment, such as Figure 5 As shown, step 1043 includes:
[0085] Step 10431: If the target scene is the starting point of the entrance area of the ramp for the vehicle, and the planned path passes through the ramp, the end point of the entrance area of the ramp is determined based on the ramp information.
[0086] The end point of the entrance area can be determined according to the ramp area range represented by the ramp information, such as Figure 3A and Figure 3B As shown, L2 is the end point of the entrance area.
[0087] Step 10432, obtain a preset first speed limit value corresponding to the starting point of the entrance area and a second speed limit value corresponding to the end point of the entrance area, and determine the first speed limit value and the second speed limit value as default speed limit values.
[0088] The first speed limit value is greater than the second speed limit value, that is, before the vehicle enters the ramp, the speed should be gradually reduced, so the speed limit value at the starting point of the entrance area is greater than the speed limit value at the end point of the entrance area.
[0089] Accordingly, step 1044 includes:
[0090] Step 10441, determining the first speed limit value as the target speed limit value when the vehicle travels to the starting point of the entrance area, and determining the second speed limit value as the target speed limit value when the vehicle travels to the end point of the entrance area.
[0091] Specifically, when the vehicle travels from the starting point to the end point of the entrance area, the speed limit value may be gradually reduced. For example, a piecewise function or a linear function may be used to gradually reduce the speed limit value from the first speed limit value to the second speed limit value.
[0092] Generally, since different vehicles travel different distances in the entrance area when entering the ramp entrance, if the vehicle has entered the ramp but the speed limit value has not reached the second speed limit value, the second speed limit value can be ignored, and the target speed limit value can be re-determined according to the method of setting the target speed limit value corresponding to the above scenario two, that is, the scenario where the vehicle is traveling in the ramp.
[0093] This embodiment sets the speed limit of the vehicle in stages when the vehicle enters the ramp entrance area, so that the vehicle speed in this scenario can be gradually reduced, and the vehicle speed is more adaptable to the ramp entrance scenario, thereby further improving the safety of vehicle driving.
[0094] In some optional implementations of this embodiment, such as Figure 6 As shown, step 1043 includes:
[0095] Step 10433: If the target scene is the starting point of the exit area of the ramp where the vehicle enters, the starting point and the end point of the exit area of the ramp are determined based on the ramp information.
[0096] The end point of the exit area can be determined according to the ramp area range represented by the ramp information, such as Figure 3C , Figure 3D and Figure 3E As shown, L4 is the end point of the exit area.
[0097] Step 10434, obtain a preset third speed limit value corresponding to the starting point of the exit area and a fourth speed limit value corresponding to the end point of the exit area, and determine the third speed limit value and the fourth speed limit value as default speed limit values.
[0098] The third speed limit value is smaller than the fourth speed limit value. That is, before the vehicle exits the ramp, the vehicle speed should be gradually increased, so the speed limit value at the starting point of the exit area is smaller than the speed limit value at the end point of the exit area.
[0099] Accordingly, step 1044 includes:
[0100] Step 10442: determine the third speed limit value as the target speed limit value when the vehicle reaches the starting point of the exit area, and determine the fourth speed limit value as the target speed limit value when the vehicle reaches the end point of the exit area.
[0101] Specifically, when the vehicle travels from the starting point to the end point of the exit area, the speed limit value may be gradually increased so that the vehicle speed adapts to the main road after entering the main road. For example, a piecewise function or a linear function may be used to gradually increase the speed limit value from the third speed limit value to the fourth speed limit value.
[0102] Optionally, if it is determined based on road information that there is a tunnel before the end point of the above-mentioned exit area, the target speed limit value corresponding to the tunnel entrance can be set to be consistent with the tunnel scene, and there is no need to reach the above-mentioned fourth speed limit value when driving to the end point of the exit area.
[0103] This embodiment sets the speed limit of the vehicle in stages when the vehicle is about to exit the ramp area, so that the vehicle speed in this scenario can be gradually increased, and the vehicle speed is more adaptable to the ramp exit scenario, thereby reducing the risk of accidents caused by the mismatch between the vehicle speed and the main road after the vehicle enters the main road, thereby improving the safety of vehicle driving.
[0104] In some optional implementations of this embodiment, such as Figure 6 As shown, after the above step 10442, the method further includes:
[0105] Step 10443: If there is at least one corresponding speed limit information at the end point of the exit area, a new target speed limit value after the vehicle reaches the end point of the exit area is determined based on the at least one speed limit information.
[0106] That is, when the vehicle passes through the end point of the exit area and exits the ramp area, the speed limit value can be set to be consistent with the main road scene. The method for obtaining at least one speed limit information at the end point of the exit area can refer to the above Figure 2 The corresponding embodiments are not described in detail here.
[0107] This embodiment determines at least one speed limit information in real time when the vehicle reaches the end of the ramp exit area, and determines the target speed limit value based on the speed limit information. This can make the speed limit value more closely match the actual road conditions when the vehicle travels on the main road, thereby reducing the risk of accidents caused by excessively high or low speeds.
[0108] Figure 7 A schematic diagram of the structure of a vehicle speed limiter based on a ramp scenario provided in an embodiment of the present application. Specifically comprising:
[0109] An acquisition module 701 is used to acquire ramp information corresponding to the ramp included in the road on which the vehicle is currently traveling, and the current planned path of the vehicle;
[0110] A first determination module 702, configured to determine a positional relationship between the vehicle and the ramp based on the ramp information and the planned path;
[0111] A second determination module 703 is used to determine whether there is a target scene corresponding to the position relationship in at least one preset scene;
[0112] The third determination module 704 is used to determine the target speed limit value corresponding to the target scene based on the preset scene speed limit correspondence relationship if there is a target scene;
[0113] The setting module 705 is used to set the current speed limit value of the vehicle as the target speed limit value.
[0114] In one possible implementation, the third determination module includes: a first determination unit, used to determine whether there is at least one corresponding speed limit information for the current position of the vehicle if the target scene is the starting point of the entrance area of the vehicle entering the ramp and the planned path does not pass through the ramp, or the target scene is the vehicle entering the ramp; a second determination unit, used to determine the target speed limit value corresponding to the target scene based on the at least one speed limit information if there is at least one speed limit information.
[0115] In a possible implementation manner, the second determination unit is further configured to: determine a maximum speed limit value as the target speed limit value from speed limit values respectively included in at least one type of speed limit information.
[0116] In a possible implementation, the third determination module further includes: a first acquisition unit, configured to acquire a default speed limit value corresponding to the target scenario if at least one speed limit information does not exist, and determine the default speed limit value as the target speed limit value.
[0117] In one possible implementation, the third determination module includes: a second acquisition unit, used to obtain a default speed limit value corresponding to the target scene if the target scene is the starting point of the entrance area of the vehicle entering the ramp and the planned path passes through the ramp, or the target scene is the starting point of the exit area of the vehicle entering the ramp; a third determination unit, used to determine the target speed limit value based on the default speed limit value.
[0118] In one possible embodiment, the second acquisition unit includes: a first determination subunit, which is used to determine the end point of the entrance area of the ramp based on the ramp information if the target scene is the starting point of the entrance area of the vehicle entering the ramp and the planned path passes through the ramp; a second determination subunit, which is used to obtain a preset first speed limit value corresponding to the starting point of the entrance area and a second speed limit value corresponding to the end point of the entrance area, and determine the first speed limit value and the second speed limit value as default speed limit values, wherein the first speed limit value is greater than the second speed limit value; the third determination unit is further used to: determine the first speed limit value as the target speed limit value when the vehicle travels to the starting point of the entrance area, and determine the second speed limit value as the target speed limit value when the vehicle travels to the end point of the entrance area.
[0119] In one possible embodiment, the second acquisition unit includes: a third determination subunit, which is used to determine the starting point of the exit area of the ramp and the end point of the exit area based on the ramp information if the target scene is the starting point of the exit area of the vehicle entering the ramp; a fourth determination subunit, which is used to obtain a preset third speed limit value corresponding to the starting point of the exit area and a fourth speed limit value corresponding to the end point of the exit area, and determine the third speed limit value and the fourth speed limit value as default speed limit values, wherein the third speed limit value is less than the fourth speed limit value; the third determination unit is further used to: determine the third speed limit value as the target speed limit value when the vehicle travels to the starting point of the exit area, and determine the fourth speed limit value as the target speed limit value when the vehicle travels to the end point of the exit area.
[0120] In a possible implementation manner, the third determination unit is further configured to: if there is corresponding at least one speed limit information at the end point of the exit area, determine a new target speed limit value after the vehicle reaches the end point of the exit area based on the at least one speed limit information.
[0121] The vehicle speed limiting device based on the ramp scenario provided in this embodiment can be as follows: Figure 7 The vehicle speed limiting device based on the ramp scenario shown in the figure can execute all the steps of the above vehicle speed limiting methods based on the ramp scenarios, thereby achieving the technical effects of the above vehicle speed limiting methods based on the ramp scenarios. For details, please refer to the above related description. For the sake of brevity, it will not be repeated here.
[0122] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, Figure 8The electronic device 800 shown includes: at least one processor 801, a memory 802, at least one network interface 804 and other user interfaces 803. The various components in the electronic device 800 are coupled together via a bus system 805. It is understood that the bus system 805 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 805 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the bus system 805 is not described in detail. Figure 8 Various buses are labeled as bus system 805 .
[0123] The user interface 803 may include a display, a keyboard, or a pointing device (eg, a mouse, a trackball, a touch pad, or a touch screen).
[0124] It can be understood that the memory 802 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 802 described herein is intended to include, but is not limited to, these and any other suitable types of memory.
[0125] In some implementations, the memory 802 stores the following elements, executable units or data structures, or a subset thereof, or an extended set thereof: an operating system 8021 and an application program 8022 .
[0126] The operating system 8021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application 8022 includes various application programs, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. The program for implementing the method of the embodiment of the present application can be included in the application 8022.
[0127] In this embodiment, by calling the program or instruction stored in the memory 802, specifically, the program or instruction stored in the application 8022, the processor 801 is used to execute the method steps provided by each method embodiment, for example, including:
[0128] Obtain ramp information corresponding to a ramp included in a road currently traveled by the vehicle, and a currently planned path of the vehicle; determine a positional relationship between the vehicle and the ramp based on the ramp information and the planned path; determine whether there is a target scene corresponding to the positional relationship in at least one preset scene; if there is a target scene, determine a target speed limit value corresponding to the target scene based on a preset scene speed limit correspondence relationship; and set the current speed limit value of the vehicle as the target speed limit value.
[0129] The method disclosed in the above embodiment of the present application can be applied to the processor 801, or implemented by the processor 801. The processor 801 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 801. The above processor 801 can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to execute, or the hardware and software units in the decoding processor can be executed. The software unit can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 802, and the processor 801 reads the information in the memory 802 and completes the steps of the above method in combination with its hardware.
[0130] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPDevice, DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the above functions of the present application, or a combination thereof.
[0131] For software implementation, the technology described above in this article can be implemented by a unit that performs the functions described above in this article. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.
[0132] The electronic device provided in this embodiment may be Figure 8 The electronic device shown in can execute all steps of the above-mentioned vehicle speed limiting methods based on ramp scenarios, thereby achieving the technical effects of the above-mentioned vehicle speed limiting methods based on ramp scenarios. Please refer to the above related description for details. For the sake of brevity, it will not be repeated here.
[0133] The embodiment of the present application also provides a storage medium (computer-readable storage medium). The storage medium here stores one or more programs. The storage medium may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk or a solid-state drive; the memory may also include a combination of the above-mentioned types of memory.
[0134] When one or more programs in the storage medium can be executed by one or more processors, the vehicle speed limiting method based on the ramp scenario executed on the electronic device side can be implemented.
[0135] The processor is used to execute the program stored in the memory to implement the following steps of the vehicle speed limit method based on the ramp scenario executed on the electronic device side:
[0136] Obtain ramp information corresponding to a ramp included in a road currently traveled by the vehicle, and a currently planned path of the vehicle; determine a positional relationship between the vehicle and the ramp based on the ramp information and the planned path; determine whether there is a target scene corresponding to the positional relationship in at least one preset scene; if there is a target scene, determine a target speed limit value corresponding to the target scene based on a preset scene speed limit correspondence relationship; and set the current speed limit value of the vehicle as the target speed limit value.
[0137] The professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0138] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
[0139] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.
[0140] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.
Claims
1. A vehicle speed limit method based on a ramp scenario, characterized in that: The method comprises: Obtaining ramp information corresponding to a ramp included in a road on which the vehicle is currently traveling, and a currently planned path of the vehicle; Determining a positional relationship between the vehicle and the ramp based on the ramp information and the planned path; Determining whether there is a target scene corresponding to the position relationship in at least one preset scene; If the target scenario exists, determining a target speed limit value corresponding to the target scenario based on a preset scenario speed limit correspondence relationship; The current speed limit value of the vehicle is set as the target speed limit value.
2. The method according to claim 1, characterized in that The determining, based on the preset scene speed limit correspondence relationship, a target speed limit value corresponding to the target scene includes: If the target scene is the starting point of the entrance area of the ramp where the vehicle enters, and the planned path does not pass through the ramp, or the target scene is the vehicle entering the ramp, determining whether there is at least one speed limit information corresponding to the current position of the vehicle; If the at least one speed limit information exists, a target speed limit value corresponding to the target scenario is determined based on the at least one speed limit information.
3. The method according to claim 2, characterized in that The determining, based on the at least one speed limit information, a target speed limit value corresponding to the target scenario includes: From the speed limit values respectively included in the at least one speed limit information, a maximum speed limit value is determined as the target speed limit value.
4. The method according to claim 2, characterized in that: After determining whether there is at least one speed limit information corresponding to the current position of the vehicle, the method further includes: If the at least one speed limit information does not exist, a default speed limit value corresponding to the target scenario is obtained, and the default speed limit value is determined as the target speed limit value.
5. The method according to claim 1, characterized in that The determining of the target speed limit value corresponding to the target scenario includes: If the target scene is the starting point of the entrance area of the ramp for the vehicle, and the planned path passes through the ramp, or the target scene is the starting point of the exit area of the ramp for the vehicle, obtaining a default speed limit value corresponding to the target scene; The target speed limit value is determined based on the default speed limit value.
6. The method according to claim 5, characterized in that If the target scene is the starting point of the vehicle entering the entrance area of the ramp and the planned path passes through the ramp, or the target scene is the starting point of the vehicle entering the exit area of the ramp, obtaining the default speed limit value corresponding to the target scene includes: If the target scene is the starting point of the entrance area of the ramp where the vehicle enters, and the planned path passes through the ramp, determining the end point of the entrance area of the ramp based on the ramp information; Obtaining a preset first speed limit value corresponding to the starting point of the entrance area and a second speed limit value corresponding to the end point of the entrance area, and determining the first speed limit value and the second speed limit value as the default speed limit value, wherein the first speed limit value is greater than the second speed limit value; The determining the target speed limit value based on the default speed limit value includes: The first speed limit value is determined as the target speed limit value when the vehicle travels to the starting point of the entrance area, and the second speed limit value is determined as the target speed limit value when the vehicle travels to the end point of the entrance area.
7. The method according to claim 5, characterized in that If the target scene is the starting point of the vehicle entering the entrance area of the ramp and the planned path passes through the ramp, or the target scene is the starting point of the vehicle entering the exit area of the ramp, obtaining the default speed limit value corresponding to the target scene includes: If the target scene is the starting point of the exit area of the ramp where the vehicle enters, determining the starting point of the exit area of the ramp and the end point of the exit area based on the ramp information; Obtaining a preset third speed limit value corresponding to the starting point of the exit area and a fourth speed limit value corresponding to the end point of the exit area, and determining the third speed limit value and the fourth speed limit value as the default speed limit value, wherein the third speed limit value is less than the fourth speed limit value; The determining the target speed limit value based on the default speed limit value includes: The third speed limit value is determined as the target speed limit value when the vehicle travels to the starting point of the exit area, and the fourth speed limit value is determined as the target speed limit value when the vehicle travels to the end point of the exit area.
8. The method according to claim 7, characterized in that After determining the third speed limit value as the target speed limit value when the vehicle travels to the starting point of the exit area, and determining the fourth speed limit value as the target speed limit value when the vehicle travels to the end point of the exit area, the method further includes: If there is corresponding at least one speed limit information at the end point of the exit area, a new target speed limit value after the vehicle travels to the end point of the exit area is determined based on the at least one speed limit information.
9. A vehicle speed limiting device based on a ramp scene device, characterized in that: The device comprises: An acquisition module, used to acquire ramp information corresponding to a ramp included in a road on which the vehicle is currently traveling, and a currently planned path of the vehicle; A first determination module, configured to determine a positional relationship between the vehicle and the ramp based on the ramp information and the planned path; A second determination module is used to determine whether there is a target scene corresponding to the position relationship in at least one preset scene; A third determination module is used to determine a target speed limit value corresponding to the target scene based on a preset scene speed limit correspondence relationship if the target scene exists; A setting module is used to set the current speed limit value of the vehicle as the target speed limit value.
10. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program stored in the memory, and when the computer program is executed, the vehicle speed limiting method based on the ramp scenario described in any one of claims 1 to 8 is implemented.
11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle speed limiting method based on a ramp scenario described in any one of claims 1 to 8 is implemented.