Vehicle speed adjusting method and device based on auxiliary driving function and vehicle

Abstract

The embodiment of the invention provides a vehicle speed adjusting method and device based on an auxiliary driving function and a vehicle, and relates to the technical field of auxiliary driving. A comparison table of road default speed limit is set in advance according to road state information; looking up a table based on a road state actual measurement result to obtain a corresponding default speed limit value, and determining a basic vehicle speed value in combination with a navigation speed limit value corresponding to the current road state; after the basic vehicle speed value is endowed with a vehicle speed set value, whether an intelligent speed regulation function or a manual speed regulation function is triggered or not is monitored in the driving process, and the intelligent speed regulation function mainly adjusts the vehicle speed according to the actual traffic flow scene around the vehicle; the manual speed regulation function is mainly used for regulating the vehicle speed according to the user intention and the current road state. Different speed setting and regulation and control mechanisms are fused, so that the speed regulation effect of the auxiliary driving system is closer to a real driving scene, the auxiliary driving passing efficiency can be improved, and the use experience of the auxiliary driving function is improved.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of assisted driving technology, and in particular to a vehicle speed adjustment method, device and vehicle based on an assisted driving function. [Background technology]

[0002] The requirements for the key functions of assisted driving are, first, stable lateral control, that is, safe lane changes and comfortable turns; second, comfortable longitudinal control, that is, flexible speed adjustment, comfortable braking control, etc.

[0003] Currently, most of the longitudinal speed adjustments for assisted driving functions in the industry are based on navigation speed limit information for speed setting. Although this meets the requirements of traffic regulations, it sacrifices traffic efficiency to a large extent and affects the speed of assisted driving vehicles. [Summary of the invention]

[0004] The embodiments of the present application propose a vehicle speed adjustment method, device and vehicle based on an assisted driving function, which relate to the field of assisted driving technology. Under the premise of meeting traffic regulations, the vehicle speed setting can be more in line with the user's driving habits and improve the traffic efficiency of assisted driving vehicles.

[0005] In a first aspect, an embodiment of the present application provides a vehicle speed adjustment method based on an assisted driving function, the method comprising:

[0006] Prepare and store a comparison table of default road speed limits in advance based on multi-dimensional road status information;

[0007] Based on the road status information actually detected, the corresponding default speed limit value is obtained by querying the comparison table, and the basic vehicle speed value is determined in combination with the navigation speed limit value corresponding to the current road status;

[0008] After assigning the basic vehicle speed value to the vehicle speed setting value, monitoring whether the intelligent speed regulation function or the manual speed regulation function is activated during driving according to the vehicle speed setting value;

[0009] After detecting that the speed control function is activated, the current vehicle speed setting value is adjusted based on different speed control functions, wherein the intelligent speed control function includes adjusting the vehicle speed according to the actual traffic scene around the vehicle; the manual speed control function includes adjusting the vehicle speed according to the user's intention and the current road conditions.

[0010] In at least one possible implementation manner, the intelligent speed regulation function specifically includes: adjusting the current vehicle speed value according to the traffic state around the vehicle and a predefined intelligent speed regulation threshold.

[0011] In at least one possible implementation, adjusting the current vehicle speed value according to the traffic flow state around the vehicle and the predefined intelligent speed adjustment threshold value includes:

[0012] According to the established standards, the current driving scene of the vehicle is judged as a traffic scene or an open scene;

[0013] If it is a traffic scene, the basic vehicle speed value is adjusted according to a pre-calibrated gain coefficient based on the relationship between the current vehicle speed and the surrounding vehicle speed;

[0014] If the vehicle is entering an open scene, the vehicle speed before entering the open scene is compared with the basic speed value corresponding to the road state in the current open scene: if the vehicle speed is less than the basic speed value of the current road in the open scene, the speed is adjusted according to the basic speed value of the current road; if the vehicle speed is greater than or equal to the basic speed value of the current road in the open scene, the vehicle speed is maintained.

[0015] In at least one possible implementation, the manual speed adjustment function specifically includes:

[0016] The current basic vehicle speed value is superimposed on the desired speed adjustment value input by the user as a new vehicle speed setting value, and whether the navigation speed limit value changes during driving is detected;

[0017] If there is a change, the new vehicle speed setting value will be compared with the current navigation speed limit value: if the new vehicle speed setting value is greater than or equal to the current navigation speed limit value, the new vehicle speed setting value will be maintained on the premise that it does not conflict with the traffic rules information; if the new vehicle speed setting value is less than the current navigation speed limit value, the vehicle speed setting value will be automatically changed to the current navigation speed limit value.

[0018] In at least one possible implementation, the compiling and storing of the comparison table of default road speed limits includes: determining speed limit interval values ​​for different roads according to road grades;

[0019] Based on the speed limit interval values ​​of different roads, and in combination with at least the road grade, the number of lanes, and the established speed regulation unit, the default speed limit values ​​corresponding to different road conditions are calibrated.

[0020] In at least one possible implementation manner, determining the basic vehicle speed value includes: selecting a maximum value between the default speed limit value and the navigation speed limit value as the basic vehicle speed value.

[0021] The technical effects of this solution can be referred to as follows: compile and store a comparison table of default speed limits based on multi-dimensional road status information in advance; based on the road status information actually detected, look up the table to obtain the corresponding default speed limit value, and determine the basic vehicle speed value in combination with the navigation speed limit value corresponding to the current road status; after assigning the basic vehicle speed value to the vehicle speed setting value, during the driving process according to the vehicle speed setting value, monitor whether the intelligent speed regulation function or the manual speed regulation function is activated, and adjust the current vehicle speed setting value based on the activated speed regulation function, wherein the intelligent speed regulation function mainly adjusts the vehicle speed according to the actual traffic scene around the vehicle; the manual speed regulation function mainly adjusts the vehicle speed according to the user's intention and the current road status. This application proposes to integrate different speed settings and control mechanisms to make the speed regulation effect of the assisted driving system closer to the real driving scene, thereby improving the assisted driving traffic efficiency and enhancing the user experience of the assisted driving function.

[0022] In a second aspect, an embodiment of the present application provides a vehicle speed adjustment device based on an assisted driving function, the device comprising:

[0023] The speed limit comparison table setting module is used to compile and store a comparison table of default speed limits for roads based on multi-dimensional road status information in advance;

[0024] Basic vehicle speed confirmation module: based on the actual detected road status information, query the comparison table to obtain the corresponding default speed limit value, and combine the navigation speed limit value corresponding to the current road status to determine the basic vehicle speed value;

[0025] A speed control trigger monitoring module is used to monitor whether the intelligent speed control function or the manual speed control function is activated during driving according to the speed setting value after assigning the basic speed value to the speed setting value;

[0026] The speed control module is used to adjust the current vehicle speed setting value based on different speed control functions after detecting the activation of the speed control function. The intelligent speed control function includes adjusting the vehicle speed according to the actual traffic scene around the vehicle; the manual speed control function includes adjusting the vehicle speed according to the user's intention and the current road conditions.

[0027] In a third aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors, a memory, and one or more computer programs, wherein the memory may adopt a non-volatile storage medium, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, and when the instructions are executed by the device, the electronic device performs the method as described in the first aspect or any possible implementation manner of the first aspect.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, the computer executes the method as described in the first aspect or any possible implementation of the first aspect.

[0029] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device in the embodiment of the third aspect and the computer-readable storage medium in the embodiment of the fourth aspect.

[0030] It should be understood that the second to fifth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

Brief Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic flow chart of a vehicle speed adjustment method based on an assisted driving function provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the structure of a vehicle speed adjustment device based on an assisted driving function provided in an embodiment of the present application. [Specific implementation method]

[0034] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0035] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0036] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0037] In view of the current situation of assisted driving vehicle speed regulation mentioned above, the embodiments of the present application provide a vehicle speed regulation method based on assisted driving functions. In this method, a comparison table of default road speed limits is compiled and stored in advance according to multi-dimensional road condition information; based on the actually detected road condition information, the corresponding default speed limit value is obtained by looking up the table, and combined with the navigation speed limit value established for the current road condition, the basic vehicle speed value is determined; after the basic vehicle speed value is assigned to the vehicle speed setting value, during the process of driving according to the vehicle speed setting value, it is monitored whether the intelligent speed regulation function or the manual speed regulation function is activated, and the current vehicle speed setting value is adjusted based on the activated speed regulation function, where the intelligent speed regulation function mainly adjusts the vehicle speed according to the actual traffic flow scenario around the vehicle; the manual speed regulation function mainly adjusts the vehicle speed according to the user's intention and the current road condition. The present application proposes to integrate different speed setting and regulation mechanisms, so that the speed regulation effect of the assisted driving system is closer to the real driving scenario, thereby improving the passing efficiency of assisted driving and enhancing the usage experience of the assisted driving function.

[0038] The following will describe in detail the technical solutions protected by the embodiments of the present application with reference to the accompanying drawings.

[0039] Please refer to Figure 1 , which is a schematic flow chart of a vehicle speed regulation method based on assisted driving functions provided by the embodiments of the present application. The flow of this method is described as follows:

[0040] Step S1: Compile and store a comparison table of default road speed limits in advance according to multi-dimensional road condition information;

[0041] In actual operation, the upper and lower limit values of the speed limits for different roads can be determined first according to the road grade. For example, the upper and lower limit intervals [a, b] are set for highways, [a, c] for urban expressways, [a, a] for ramps, and [d, f] for other urban roads, where d < a < f < c < b are fixed scale values. Then, based on the upper and lower limit values, road grades, number of lanes, established speed regulation unit quantity n, etc. of different roads, the default speed limit values of each different level of roads are calibrated, and the data representation can be [lower limit value, upper limit value, default speed limit value], referring to Example Table 1.

[0042]

[0043]

[0044] Table 1 Pre-calibrated comparison table of default road speed limits

[0045] Step S2: Based on the actually detected road condition information, query the comparison table to obtain the corresponding default speed limit value, and combine it with the given navigation speed limit value corresponding to the current road condition to determine the basic vehicle speed value;

[0046] Specifically, the basic speed control data comes from the navigation speed limit and the system-defined default road speed limit. The system's basic vehicle speed setting is determined based on the speed limit values ​​of the two data sources. The larger value between the two is the basic vehicle speed set by the system, that is, MAX{navigation speed limit value, road default speed limit value}.

[0047] Step S3, assigning the basic vehicle speed value to a vehicle speed setting value, and monitoring whether the intelligent speed regulation function or the manual speed regulation function is activated during driving according to the vehicle speed setting value;

[0048] Step S4: after detecting that the speed regulation function is activated, adjusting the current vehicle speed setting value based on different speed regulation functions, wherein the intelligent speed regulation function includes adjusting the vehicle speed according to the actual traffic scene around the vehicle; the manual speed regulation function includes adjusting the vehicle speed according to the user's intention and the current road conditions.

[0049] In view of the characteristics of the above-mentioned different speed control functions, we can elaborate here. When the vehicle is cruising at the aforementioned basic speed value, it can continuously monitor whether the driver has activated the above-mentioned two speed control functions. For example, when one of the two speed control functions is actively triggered through physical / virtual buttons, voice, etc. (the two are independent functions. For example, after triggering AI speed control first, if the user triggers manual speed control again, AI speed control will exit; vice versa), the following specific speed control examples can be executed accordingly.

[0050] 1. In actual operation, the AI ​​speed control mechanism can be based on the speed relationship between the vehicle and the surrounding traffic (the traffic conditions around the current vehicle can be judged through the perception system and mature driving algorithms, and can be classified into two types according to preset standards: traffic scenes and open scenes). The speed of the vehicle can be intelligently controlled. When controlling, the maximum threshold of the AI ​​speed control upper limit can be defined, for example, it can be adjusted to exceed the basic speed by k% (this gain can be actually calibrated).

[0051] 1) AI speed control in traffic scenarios: adjust according to the actual traffic speed. For example, if the surrounding traffic speed is higher than the current basic speed, the basic speed is adjusted according to the coefficient of 1+k%;

[0052] 2) AI speed control in open scenes: For example, when entering a road without traffic from a road with traffic, the system continuously monitors the vehicle for a period of time when the vehicle is stable and has no traffic. If the vehicle's speed is less than the basic speed of the current road scene, the basic speed control is used for adjustment. If the vehicle's speed is greater than or equal to the basic speed of the lane scene, the vehicle's current speed is maintained.

[0053] 2. The manual speed control function in this application can be understood as an active protection mechanism for speed control in accordance with the driver's intention. In addition, according to the difference in road grades, a driver speed control protection strategy corresponding to different road scenes can be formulated to meet the needs of human-machine co-driving in various road scenes and make the speed control setting of the assisted driving more humane. Here are some examples:

[0054] 1) Highway / urban expressway scenario: When the vehicle is in the Active state of the assisted driving system (assuming that the AI ​​speed control has been activated in advance), the road type of the vehicle is highway / urban expressway, after detecting that the driver adjusts the speed through the physical button (the driver adjusts the desired speed), the AI ​​speed control is exited, and the basic speed is superimposed with the driver's intention (which can be a negative value); and during driving, if it is detected that the current road speed limit changes from a small speed to a large speed, then according to the current set speed and the speed limit relationship, the speed is maintained unchanged or only the automatic speed increase function is activated, thereby realizing the speed adjustment protection mechanism under the premise of meeting the driver's intention; conversely, if it is detected that the current road speed limit changes from a large speed to a small speed, the speed is maintained unchanged or only the automatic speed reduction function is activated, thereby realizing the speed adjustment protection mechanism under the premise of meeting the driver's intention.

[0055] 2) Urban road scenario: When the vehicle is in the Active state of the assisted driving system (AI speed regulation), and the road type is an urban road with a basically unchanged navigation speed limit, after detecting that the driver adjusts the speed through the physical buttons (the driver adjusts the desired speed), the AI ​​speed regulation is exited, and the custom speed set by the driver is maintained. When the conditions for exiting the assisted driving function or the road grade changes or the AI ​​speed regulation intervention is triggered again, the driver's desired speed adjustment protection is exited.

[0056] In combination with the above embodiments, the following specific examples are provided here for understanding and reference.

[0057] Specific embodiment 1: The driver activates the assisted driving function and enters a two-lane highway section. The navigation speed limit is 100km / h. From Table 1, it can be seen that the default speed limit value of the two-lane highway is c; assuming c<100, according to the principle of taking the larger value, the basic speed set by the vehicle assisted driving system is 100km / h. After the vehicle has been driving steadily for a period of time, the driver actively adjusts the speed upward by n, and the system enters the driver speed regulation protection. At this time, the speed set by the system is (100+n)km / h. After driving steadily for a period of time, the vehicle enters a section with a navigation speed limit of 120 km / h. The navigation speed limit value in the system increases from 100 to 120, and the road speed limit changes from small to large. Assuming (100+n)km / h>120km / h, then in combination with traffic regulations, on the premise that (100+n)km / h does not violate traffic regulations, the driver's adjustment result (100+n)km / h is maintained unchanged; assuming (100+n)km / h<120km / h, then the system determines that the driver intends to increase the speed and actively adjusts the set speed to 120km / h.

[0058] In this embodiment, the overall vehicle speed is set to change from 100km / h to (100+n)km / h to 120km / h. Compared with the speed adjustment based solely on the navigation speed limit, the vehicle speed is significantly increased, thereby improving the travel speed and efficiency of vehicles with assisted driving functions. In addition, a driver speed regulation protection mechanism is added to enhance the human-machine co-driving experience.

[0059] Specific embodiment 2: The driver activates the assisted driving function and enters a three-lane urban road. The navigation speed limit is 50km / h. From Table 1, it can be seen that the default speed limit for a three-lane urban road is d+2n. Assuming d+2n>50, according to the principle of taking the larger value, the basic speed set by the vehicle assisted driving system is (d+2n)km / h.

[0060] At this time, if the driver actively chooses AI speed regulation, and the surrounding traffic conditions are good, and the traffic speed is higher than the basic speed regulation of the vehicle, the system can adjust the set speed to a maximum of (d+2n)*(100%+k%)km / h.

[0061] After the vehicle has been driving at the speed of the surrounding traffic for a period of time, it enters an empty four-lane urban road with no traffic. The navigation speed limit is 60km / h. According to Table 1, the default speed limit of the road is (d+3n)km / h. Assuming (d+3n)>60, the basic speed control of this section is (d+3n)km / h according to the principle of taking the larger value. Since the vehicle enters the section without traffic from the section with traffic, assuming that the speed of the vehicle after the previous AI speed control is (d+2n)*(100%+k%)<(d+3n), then the AI ​​speed control will change and stabilize at (d+3n)km / h in the section without traffic.

[0062] In this embodiment, the overall vehicle speed change is set as (d+2n)km / h→(d+2n)*(100%+k%)km / h→(d+3n)km / h. It can be seen that on urban roads, it neither violates traffic regulations nor keeps relatively consistent with the changes in surrounding traffic flow, so that the travel speed of the vehicle on urban roads is better.

[0063] See also Figure 2 Based on the same inventive concept, the embodiment of the present application further provides a vehicle speed regulating device based on an assisted driving function, the device comprising:

[0064] The speed limit comparison table setting module 201 is used to compile and store a comparison table of default speed limits for roads in advance based on multi-dimensional road status information;

[0065] The basic vehicle speed confirmation module 202: based on the road state information actually detected, the corresponding default speed limit value is obtained by querying the comparison table, and the basic vehicle speed value is determined in combination with the navigation speed limit value corresponding to the current road state;

[0066] The speed control trigger monitoring module 203 is used to monitor whether the intelligent speed control function or the manual speed control function is activated during driving according to the speed setting value after assigning the basic speed value to the speed setting value;

[0067] The speed control module 204 is used to adjust the current vehicle speed setting value based on different speed control functions after detecting the activation of the speed control function, wherein the intelligent speed control function includes adjusting the vehicle speed according to the actual traffic scene around the vehicle; the manual speed control function includes adjusting the vehicle speed according to the user's intention and the current road conditions.

[0068] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including at least one processor, which is used to execute a computer program stored in a memory to implement the flow chart steps of the above-mentioned vehicle speed adjustment method based on the assisted driving function provided in the embodiment of the present application.

[0069] Optionally, the processor may specifically be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution.

[0070] Optionally, the electronic device may further include a memory connected to at least one processor, and the memory may include ROM, RAM, and disk storage. The memory is used to store data required by the processor when it is running, that is, it stores instructions that can be executed by at least one processor, and at least one processor executes the methods mentioned in the above embodiments by executing the instructions stored in the memory. Among them, the number of memories is one or more. Among them, the number of memories is one or more.

[0071] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the methods mentioned in the above embodiments.

[0072] Based on the same inventive concept, the embodiment of the present application further provides a vehicle, comprising at least the above electronic device and / or computer-readable storage medium. The selection of the vehicle can be determined based on the correct understanding and reasonable implementation of the above solution by those skilled in the art.

[0073] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A vehicle speed adjustment method based on an assisted driving function, characterized in that: The method comprises: Prepare and store a comparison table of default road speed limits in advance based on multi-dimensional road status information; Based on the road status information actually detected, the corresponding default speed limit value is obtained by querying the comparison table, and the basic vehicle speed value is determined in combination with the navigation speed limit value corresponding to the current road status; After assigning the basic vehicle speed value to the vehicle speed setting value, monitoring whether the intelligent speed regulation function or the manual speed regulation function is activated during driving according to the vehicle speed setting value; After detecting that the speed control function is activated, the current vehicle speed setting value is adjusted based on different speed control functions, wherein the intelligent speed control function includes adjusting the vehicle speed according to the actual traffic scene around the vehicle; the manual speed control function includes adjusting the vehicle speed according to the user's intention and the current road conditions.

2. The vehicle speed adjustment method based on the auxiliary driving function according to claim 1 is characterized in that: The intelligent speed regulation function specifically includes: adjusting the current vehicle speed value according to the traffic state around the vehicle and a predefined intelligent speed regulation threshold.

3. The vehicle speed adjustment method based on the auxiliary driving function according to claim 2 is characterized in that: The adjusting the current vehicle speed value according to the traffic flow state around the vehicle and the predefined intelligent speed adjustment threshold value includes: According to the established standards, the current driving scene of the vehicle is judged as a traffic scene or an open scene; If it is a traffic scene, the basic vehicle speed value is adjusted according to a pre-calibrated gain coefficient based on the relationship between the current vehicle speed and the surrounding vehicle speed; If the vehicle is entering an open scene, the vehicle speed before entering the open scene is compared with the basic speed value corresponding to the road state in the current open scene: if the vehicle speed is less than the basic speed value of the current road in the open scene, the speed is adjusted according to the basic speed value of the current road; if the vehicle speed is greater than or equal to the basic speed value of the current road in the open scene, the vehicle speed is maintained.

4. The vehicle speed adjustment method based on the auxiliary driving function according to claim 1 is characterized in that: The manual speed regulation function specifically includes: The current basic vehicle speed value is superimposed on the desired speed adjustment value input by the user as a new vehicle speed setting value, and whether the navigation speed limit value changes during driving is detected; If there is a change, the new vehicle speed setting value will be compared with the current navigation speed limit value: if the new vehicle speed setting value is greater than or equal to the current navigation speed limit value, the new vehicle speed setting value will be maintained on the premise that it does not conflict with the traffic rules information; if the new vehicle speed setting value is less than the current navigation speed limit value, the vehicle speed setting value will be automatically changed to the current navigation speed limit value.

5. The vehicle speed adjustment method based on the auxiliary driving function according to claim 1 is characterized in that: The preparation and storage of the comparison table of default road speed limits includes: determining speed limit interval values ​​of different roads according to road grades; Based on the speed limit interval values ​​of different roads, and in combination with at least the road grade, the number of lanes, and the established speed regulation unit, the default speed limit values ​​corresponding to different road conditions are calibrated.

6. The vehicle speed adjustment method based on the auxiliary driving function according to any one of claims 1 to 5, characterized in that: The determining of the basic vehicle speed value includes: selecting the maximum value between the default speed limit value and the navigation speed limit value as the basic vehicle speed value.

7. A vehicle speed regulating device based on an auxiliary driving function, characterized in that: The device comprises: The speed limit comparison table setting module is used to compile and store a comparison table of default speed limits for roads based on multi-dimensional road status information in advance; Basic vehicle speed confirmation module: based on the actual detected road status information, query the comparison table to obtain the corresponding default speed limit value, and combine the navigation speed limit value corresponding to the current road status to determine the basic vehicle speed value; A speed control trigger monitoring module is used to monitor whether the intelligent speed control function or the manual speed control function is activated during driving according to the speed setting value after assigning the basic speed value to the speed setting value; The speed control module is used to adjust the current vehicle speed setting value based on different speed control functions after detecting the activation of the speed control function. The intelligent speed control function includes adjusting the vehicle speed according to the actual traffic scene around the vehicle; the manual speed control function includes adjusting the vehicle speed according to the user's intention and the current road conditions.

8. An electronic device, characterized in that: include: One or more processors, a memory and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the electronic device, enable the electronic device to execute the vehicle speed adjustment method based on the assisted driving function as described in any one of claims 1 to 6.

9. 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 adjustment method based on the auxiliary driving function described in any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: The vehicle is provided with the electronic device of claim 8 or the computer-readable storage medium of claim 9.

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