A vehicle speed regulation method and device based on an assisted driving function and a vehicle

Abstract

Embodiments of the present application provide a vehicle speed adjusting method and device based on an auxiliary driving function and a vehicle, and relate to the technical field of auxiliary driving. A default speed limit table is set according to road state information in advance. A corresponding default speed limit value is obtained by looking up the table based on a measured result of a road state, and a basic vehicle speed value is determined in combination with a navigation speed limit value corresponding to a current road state. After the basic vehicle speed value is assigned to a vehicle speed setting value, whether an intelligent speed adjustment function or a manual speed adjustment function is triggered is monitored in a driving process. The intelligent speed adjustment function mainly adjusts the vehicle speed according to an actual traffic flow scenario around the ego vehicle. The manual speed adjustment function mainly adjusts the vehicle speed according to a user intention and a current road state. The present application combines different speed settings and adjustment mechanisms, so that the speed adjustment effect of the auxiliary driving system is closer to a real driving scenario, thereby improving the auxiliary driving passing efficiency and enhancing the use experience of the auxiliary driving function.

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 key assisted driving functions are, first, stable lateral control, i.e. safe lane changes and comfortable turns; second, comfortable longitudinal control, i.e. flexible speed adjustment and comfortable braking control.

[0003] Currently, most of the longitudinal speed adjustments for assisted driving functions in the industry are based on navigation speed limit information. Although this meets 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 actual road condition information 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 condition;

[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 a predefined intelligent speed adjustment threshold 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 base 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 vehicle 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 speed setting value will be compared with the current navigation speed limit value: if the new speed setting value is greater than or equal to the current navigation speed limit value, the new speed setting value will be maintained under the premise that it does not conflict with the traffic rules information; if the new speed setting value is less than the current navigation speed limit value, the 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 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: based on multi-dimensional road status information, a comparison table of default speed limits for roads is compiled and stored in advance; based on the road status information actually detected, the corresponding default speed limit value is obtained by looking up the table, and the basic vehicle speed value is determined in combination with the navigation speed limit value corresponding to the current road status; after the basic vehicle speed value is assigned to the vehicle speed setting value, during the driving process according to the vehicle speed setting value, the intelligent speed regulation function or the manual speed regulation function is monitored to determine whether it is activated, and the current vehicle speed setting value is adjusted 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 road default speed limits based on multi-dimensional road status information in advance;

[0024] Basic vehicle speed confirmation module: Based on the actual road status information 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;

[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, which, when executed by the device, enable the electronic device to perform the method as described in the first aspect or any possible implementation 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 following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0032] Figure 1 A 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 structural diagram 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 solutions 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 embodiments described 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 making creative work are within the scope of protection of this specification.

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

[0037] In view of the current situation of assisted driving speed regulation mentioned above, an embodiment of the present application provides a 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 speed value is determined; after assigning the basic speed value to the speed setting value, during the driving process according to the speed setting value, it is monitored whether the intelligent speed regulation function or the manual speed regulation function is activated, and the current 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, making the speed regulation effect of the assisted driving system closer to the real driving scenario, thereby improving the passing efficiency of assisted driving and enhancing the user 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 flowchart of a speed regulation method based on assisted driving functions provided by an embodiment of the present application. The process 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 grade, number of lanes, and established speed regulation unit quantity n 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 Table 1 in the example.

[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 speed value;

[0046] Specifically, the basic speed control data comes from the navigation speed limit and the system-defined road default 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 control function is activated, adjust the current vehicle speed setting value 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.

[0049] Regarding 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 situation around the current vehicle can be determined through the perception system and mature driving algorithms, and can be classified into two types according to preset standards: traffic scene and open scene). It can intelligently control the vehicle's speed. During the control, the maximum threshold of the AI ​​speed control upper limit can be defined, for example, it can be adjusted to exceed the base speed by k% (this gain can be actually calibrated).

[0051] 1) AI speed control in traffic scenarios: The system adjusts speed based on the actual traffic speed. For example, if the surrounding traffic speed is higher than the current base speed, the base speed is adjusted by a factor of 1 + k%.

[0052] 2) AI speed control in open areas: For example, when entering a road without traffic from a road with traffic, the system continuously monitors the vehicle's speed for a period of time, indicating that the vehicle is stable and has no traffic. If the vehicle's speed is less than the baseline speed for the current road scenario, the system adjusts the speed according to the baseline speed control. If the vehicle's speed is greater than or equal to the baseline speed for the lane scenario, the system maintains the vehicle's current speed.

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

[0054] 1) Highway / Urban Expressway Scenario: When the vehicle is in the assisted driving system Active state (assuming AI speed control has been activated previously), the road type is highway / urban expressway, and after detecting that the driver has adjusted the speed using the physical button (the driver adjusts the desired speed), the AI ​​speed control is exited and the base speed is superimposed with the driver's intention (which can be a negative value). During driving, if the current road speed limit is detected to change from a small speed to a large speed, the speed is maintained or only the automatic speed increase function is activated, depending on the relationship between the current set speed and the speed limit. This implements a speed adjustment protection mechanism that meets the driver's intention. Conversely, if the current road speed limit is detected to change from a large speed to a small speed, the speed is maintained or only the automatic speed reduction function is activated. This implements a speed adjustment protection mechanism that meets the driver's intention.

[0055] 2) Urban Road Scenario: When the vehicle is in the assisted driving system active state (AI speed control in progress), and the road type is an urban road with a relatively constant navigation speed limit, if the driver adjusts the speed via the physical button (driver adjusts the desired speed), the AI ​​speed control is exited, and the custom speed set by the driver is maintained. If the conditions for exiting the assisted driving function or the road grade changes, or if AI speed control intervention is triggered again, the driver's desired speed protection is exited.

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

[0057] In a specific example, a driver activates the assisted driving function and enters a two-lane highway with a navigation speed limit of 100 km / h. Table 1 shows that the default speed limit for two-lane highways is c. Assuming c < 100, the larger value is used, and the base speed set by the assisted driving system is 100 km / h. After the vehicle has been driving steadily for a period of time, the driver actively adjusts the speed upward by n. The system then activates driver speed regulation protection, and the system sets the speed to (100 + n) km / h. After driving steadily for a period of time, the vehicle enters a road 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 that (100+n) km / h>120 km / h, then in combination with traffic regulations, the driver's adjustment result (100+n) km / h is maintained unchanged, provided that (100+n) km / h does not violate traffic regulations; assuming that (100+n) km / h<120 km / h, the system determines that the driver intends to increase the speed and actively adjusts the set speed to 120 km / h.

[0058] In this embodiment, the overall vehicle speed change is set to 100km / h→(100+n)km / h→120km / h. Compared with the speed adjustment based solely on the navigation speed limit, the vehicle speed setting 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 Example 2: The driver activates the assisted driving function and enters a three-lane urban road. The navigation speed limit is 50 km / h. Table 1 shows that the default speed limit for three-lane urban roads is d+2n. Assuming d+2n>50, the vehicle assisted driving system sets the base speed to (d+2n) km / h based on the principle of taking the larger value.

[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 steadily following the speed of surrounding traffic for a while, it enters an empty, four-lane urban road with a navigation speed limit of 60 km / h. Table 1 shows that the default speed limit is (d+3n) km / h. Assuming (d+3n) > 60, the base speed for this section is (d+3n) km / h, based on the principle of taking the greater of these limits. Since the vehicle enters a section with traffic, assuming the vehicle's speed, based on the AI-controlled speed adjustment, is (d+2n)*(100%+k%) < (d+3n), the AI-controlled speed will change and stabilize at (d+3n) km / h on the empty section.

[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 vehicle's travel speed on urban roads is better.

[0063] See Figure 2 Based on the same inventive concept, an embodiment of the present application further provides a vehicle speed adjustment 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 road default speed limits in advance based on multi-dimensional road status information;

[0065] The basic vehicle speed confirmation module 202 determines the basic vehicle speed value by querying the reference table based on the actual detected road state information to obtain the corresponding default speed limit value, and combining 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. 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. The memory may include ROM, RAM, and disk storage. The memory is used to store data required by the processor during operation, that is, it stores instructions that can be executed by at least one processor. The at least one processor executes the methods mentioned in the above embodiments by executing the instructions stored in the memory. The number of memories is one or more. The number of memories is one or more.

[0071] An embodiment of the present application further 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, embodiments of the present application further provide a vehicle comprising at least the aforementioned electronic device and / or computer-readable storage medium. The selection of the vehicle can be determined based on a person skilled in the art's correct understanding and reasonable implementation of the aforementioned solutions.

[0073] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent replacements, 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 actual road condition information 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 condition; 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 adjustment function is activated, the current vehicle speed setting value is adjusted based on different speed adjustment functions, wherein the intelligent speed adjustment function includes adjusting the vehicle speed according to the actual traffic scene around the vehicle; the manual speed adjustment function includes adjusting the vehicle speed according to the user's intention and the current road conditions; The intelligent speed regulation function specifically includes: adjusting the current vehicle speed value according to the traffic flow state around the vehicle and the predefined intelligent speed regulation threshold; The adjusting of 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 base 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 vehicle 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.

2. The vehicle speed adjustment method based on the assisted driving function according to claim 1, characterized in that: The manual speed adjustment 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 speed setting value will be compared with the current navigation speed limit value: if the new speed setting value is greater than or equal to the current navigation speed limit value, the new speed setting value will be maintained under the premise that it does not conflict with the traffic rules information; if the new speed setting value is less than the current navigation speed limit value, the speed setting value will be automatically changed to the current navigation speed limit value.

3. The vehicle speed adjustment method based on the assisted driving function according to claim 1, characterized in that: The preparation and storage of the comparison table of default road speed limits includes: determining speed limit interval values ​​for 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.

4. The vehicle speed adjustment method based on the assisted driving function according to any one of claims 1 to 3, 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.

5. A vehicle speed regulating device based on an assisted 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 road default speed limits based on multi-dimensional road status information in advance; Basic vehicle speed confirmation module: Based on the actual road status information 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; 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; A speed control module, configured to adjust the current vehicle speed setting value based on different speed control functions after detecting activation of the speed control function, wherein the intelligent speed control function includes adjusting the vehicle speed based on the actual traffic scene around the vehicle; the manual speed control function includes adjusting the vehicle speed based on user intention and current road conditions; The intelligent speed regulation function specifically includes: adjusting the current vehicle speed value according to the traffic flow state around the vehicle and the predefined intelligent speed regulation threshold; The adjusting of 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 base 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 vehicle 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.

6. 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 4.

7. 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 assisted driving function according to any one of claims 1 to 4 is implemented.

8. A vehicle, characterized in that: The vehicle is equipped with the electronic device according to claim 6 or the computer-readable storage medium according to claim 7.

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