Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a visual recognition speed limit value and / or a navigation map speed limit value of a vehicle, determining an actual speed limit value of the vehicle through the visual recognition speed limit value and / or the navigation map speed limit value, monitoring the current vehicle speed of the vehicle, and controlling the vehicle speed according to the actual speed limit value. Under the condition that the current vehicle speed exceeds the actual speed limit value, the preset speed limit function on-off state and the current cruise function state of the vehicle are obtained, a to-be-executed speed limit control strategy is determined according to the speed limit function on-off state and the cruise function state, and the speed limit control strategy comprises an overspeed early warning strategy and an overspeed early warning and speed control strategy; and according to the overspeed control strategy, overspeed early warning is conducted on the vehicle, and the current vehicle speed is controlled to be reduced to the target vehicle speed according to the actual speed limit value. Through fusion of visual identification and the navigation map, the actual speed limit value is accurately determined, overspeed early warning is provided, the speed can be automatically controlled, and intelligent speed limit alarm and speed limit control are achieved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device, electronic equipment and storage medium. Background Art

[0002] With the rapid development of the automobile industry, the number of various types of vehicles has increased dramatically, and road traffic volume has also increased significantly. While this trend has brought convenience to travel, it has also brought unprecedented challenges to road traffic safety. Among them, speeding, as one of the main causes of frequent traffic accidents, has attracted widespread attention.

[0003] At present, vehicle speeding is determined by the traffic speed limit recognition function of intelligent driving. Specifically, the speed limit information is identified during the speeding process, thereby issuing a speeding alarm prompt to reduce the probability of traffic accidents caused by speeding. However, the current traffic speed limit recognition function mostly relies on pure visual solutions, and there are various speed limit interference information in the driving scene. For example, when driving on a highway, it is easy to identify the speed limit of the ramp as the current speed limit information, or there are some diversions and construction sections, resulting in inaccurate speed limit information, which will lead to false alarms of vehicle speeding, and cannot effectively avoid the safety hazards of vehicle speeding, affecting the driving safety of users. Summary of the invention

[0004] In view of this, the present invention aims to propose a vehicle control method, device, electronic device and storage medium to solve the problem that the speed limit information of the current traffic speed limit identification is inaccurate, which will cause false alarms of vehicle speeding, cannot effectively avoid the safety hazard of speeding, and affect the driving safety of users.

[0005] According to a first aspect of the present invention, a vehicle control method is provided, the method comprising:

[0006] Obtaining a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle, and using the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle;

[0007] Monitoring the current speed of the vehicle, and obtaining a preset speed limit function switch state and a current cruise function state of the vehicle when the current speed exceeds the actual speed limit value;

[0008] Determine the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy;

[0009] According to the overspeed control strategy, an overspeed warning is issued to the vehicle, and according to the actual speed limit value, the current vehicle speed is controlled to be reduced to a target vehicle speed; the target vehicle speed is less than the actual speed limit value.

[0010] Optionally, the obtaining of a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle, and using the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle, comprises:

[0011] Obtaining speed limit sign information collected by the vehicle, using a pre-trained recognition model to recognize the speed limit sign information, and obtaining a visual recognition speed limit value of the vehicle;

[0012] When the vehicle does not start the navigation map, the visually recognized speed limit value is determined as the actual speed limit value of the vehicle;

[0013] When the vehicle starts the navigation map, the navigation map speed limit value of the vehicle is obtained, the consistency check is performed on the visual recognition speed limit value and the navigation map speed limit value, and the actual speed limit value of the vehicle is determined according to a preset priority.

[0014] Optionally, the acquiring speed limit sign information collected by the vehicle, identifying the speed limit sign information, and obtaining a visually recognized speed limit value of the vehicle includes:

[0015] Acquire speed limit sign information collected by the vehicle, use a pre-trained recognition model to recognize the speed limit sign information, and recognize at least one speed limit value; the speed limit value includes a ramp speed limit value and a lane speed limit value;

[0016] If the vehicle is detected to be in a ramp scene and it is determined that the vehicle intends to enter the ramp, the ramp speed limit value is determined as the visual recognition speed limit value of the vehicle;

[0017] Otherwise, the lane speed limit value is determined as the visual recognition speed limit value of the vehicle.

[0018] Optionally, before acquiring the speed limit sign information collected by the vehicle and identifying the speed limit sign information to obtain the visually recognized speed limit value of the vehicle, the method further includes:

[0019] Obtaining a standard speed limit sign and an unconventional speed limit sign, and using the standard speed limit sign and the unconventional speed limit sign to train a recognition model to obtain a trained recognition model;

[0020] If the visual recognition speed limit value and the navigation map speed limit value are inconsistent, the visual recognition speed limit value and the navigation map speed limit value are verified for accuracy, and the trained recognition model is adjusted according to the verification result obtained.

[0021] Optionally, the speed limit control strategy to be executed is determined according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy, including:

[0022] If the speed limit function switch state is on, the function flag of the speed limit function switch is the first flag, and the cruise function state is off, then the speed limit control strategy to be executed is determined to be an overspeed warning strategy;

[0023] If the speed limit function switch state is on, the function flag of the speed limit function switch is the second flag, and the cruise function state is on, it is determined that the speed limit control strategy to be executed is the overspeed warning and speed control strategy.

[0024] Optionally, the providing of an overspeed warning to the vehicle according to the overspeed control strategy, and controlling the current vehicle speed to decrease to a target vehicle speed according to the actual speed limit value, comprises:

[0025] If the overspeed control strategy is an overspeed warning strategy, a warning request is generated and sent to the vehicle cockpit to warn the vehicle of overspeed; wherein the warning request includes a warning method;

[0026] If the overspeed control strategy is an overspeed warning and speed control strategy, a warning request and a speed limit request are generated, and the warning request is sent to the vehicle cabin to warn the vehicle of overspeeding, and the speed limit request is sent to the vehicle's chassis electronic stability system to control the current vehicle speed to be reduced to the target speed according to the actual speed limit value; wherein the speed limit request includes the target speed.

[0027] Optionally, before obtaining a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle and using the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle, the method further includes:

[0028] In response to the vehicle being powered on, initializing the vehicle to detect whether the data link status of the vehicle is normal; the data link includes a visual recognition link and a navigation map link;

[0029] When the visual recognition link and the navigation map link are normal, the initial speed limit function switch state and cruise function state of the vehicle are determined.

[0030] According to a second aspect of the present invention, there is provided a vehicle control device, the device comprising:

[0031] A speed limit determination module is used to obtain a visually recognized speed limit value of the vehicle and / or a navigation map speed limit value, and to determine an actual speed limit value of the vehicle using the visually recognized speed limit value and / or the navigation map speed limit value;

[0032] An overspeed monitoring module is used to monitor the current speed of the vehicle, and when the current speed exceeds the actual speed limit value, obtain the vehicle's preset speed limit function switch state and the current cruise function state;

[0033] A speed limit strategy determination module is used to determine the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy;

[0034] The speed limit control module is used to provide an overspeed warning to the vehicle according to the overspeed control strategy, and to control the current vehicle speed to be reduced to a target vehicle speed according to the actual speed limit value; the target vehicle speed is less than the actual speed limit value.

[0035] According to another aspect of the present invention, there is also provided an electronic device, comprising:

[0036] processor;

[0037] a memory for storing instructions executable by the processor;

[0038] Wherein, the processor is configured to execute the instructions to implement the vehicle control method as described above.

[0039] According to another aspect of the present invention, a readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0040] The vehicle control method provided by the embodiment of the present invention obtains the visual recognition speed limit value and / or the navigation map speed limit value of the vehicle, uses the visual recognition speed limit value and / or the navigation map speed limit value to determine the actual speed limit value of the vehicle, monitors the current speed of the vehicle, and when the current speed exceeds the actual speed limit value, obtains the preset speed limit function switch state and the current cruise function state of the vehicle, and determines the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state. The speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy. According to the overspeed control strategy, the vehicle is given an overspeed warning, and the current speed is controlled to be reduced to the target speed according to the actual speed limit value. The embodiment of the present invention can more accurately determine the actual speed limit value through the integration of visual recognition and navigation map, avoid the false alarm problem of a single solution, the system not only provides overspeed warning, but also automatically controls the speed when the cruise function is turned on, ensures that the vehicle always travels within the speed limit range, realizes intelligent speed limit alarm and speed limit control, greatly reduces the risk of traffic accidents caused by speeding, and effectively improves driving safety and user experience.

[0041] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0043] Figure 1 is a flow chart of steps of a vehicle control method provided by an embodiment of the present invention;

[0044] Figure 2 yes Figure 1 A flowchart of step 101 in the vehicle control method provided by an embodiment of the present invention;

[0045] Figure 3 yes Figure 1 A flowchart of step 103 in the vehicle control method provided by an embodiment of the present invention;

[0046] Figure 4 yes Figure 1 A flowchart of step 104 in the vehicle control method provided by an embodiment of the present invention;

[0047] Figure 5 is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present invention;

[0048] Figure 6 is a flowchart of another vehicle control method provided by an embodiment of the present invention;

[0049] Figure 7 is a structural schematic diagram of a vehicle control device provided by an embodiment of the present invention;

[0050] Figure 8 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0052] Reference Figure 1 , shows a flow chart of the steps of a vehicle control method provided by an embodiment of the present invention, the method may include:

[0053] Step 101, obtaining a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle, and using the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle.

[0054] In the embodiment of the present invention, in order to solve the problem that the speed limit information of the current traffic speed limit identification is inaccurate, which will cause false alarms of vehicle speeding, cannot effectively avoid the safety hazard of vehicle speeding, and affect the driving safety of users, this embodiment comprehensively considers the speed limit information of visual identification and the speed limit information of the navigation map, combines the vehicle and lane line position and the vehicle status, obtains an accurate speed limit value, and adds the vehicle speed adjustment of the cruise function to achieve comprehensive and effective speed limit alarm control. When the cruise function is not used, once the vehicle speed exceeds the speed limit information, an alarm will be issued. When the cruise function is used, while issuing an overspeed warning, it automatically participates in the adjustment of the cruise speed to control the vehicle speed below the speed limit value.

[0055] It should be noted that, refer to Figure 5 , shows a scenario schematic diagram of a vehicle control method provided by an embodiment of the present invention, wherein the system includes an L2 intelligent driving system, specifically including a forward-looking integrated machine MPC (including a controller), a cockpit domain controller CDC, and a chassis electronic stability system ESC, wherein the controller includes a SOC chip and a microcontroller MCU, and recognizes speed limit signs on the road through a forward-looking camera to obtain a visually recognized speed limit value, obtains speed limit information of the current road section through an on-board navigation system, and provides a navigation map speed limit value, the SOC chip is used to fuse the visually recognized speed limit value and the navigation map speed limit value, determine the actual speed limit value, and execute decision logic, the microcontroller is used to receive instructions or requests from the SOC chip, perform specific control tasks, and interact with the chassis electronic stability control system to control the vehicle speed, the chassis electronic stability control system is used to perform braking and deceleration operations according to the instructions of the microcontroller, and the cockpit domain controller is used to interact with the driver to provide speeding warnings.

[0056] Specifically, in this embodiment, the system obtains the speed limit sign on the road through the front-view integrated device to obtain the visual recognition speed limit value. At the same time, the system obtains the speed limit information of the current road section through the navigation map to obtain the navigation map speed limit value. The SOC chip is used to fuse the visual recognition speed limit value and the navigation map speed limit value to determine the actual speed limit value. The fusion rules are as follows: If the visual recognition speed limit value is consistent with the navigation map speed limit value, the speed limit value is output and determined as the actual speed limit value of the vehicle. If the visual recognition speed limit value is inconsistent with the navigation map speed limit value, the navigation map speed limit value is preferentially determined as the actual speed limit value of the vehicle; if the navigation map information is in a construction or diversion section, the visual recognition speed limit value is determined as the actual speed limit value of the vehicle.

[0057] Step 102, monitor the current speed of the vehicle, and when the current speed exceeds the actual speed limit, obtain the vehicle's preset speed limit function switch state and the current cruise function state.

[0058] In the embodiment of the present invention, the system monitors the current speed of the vehicle in real time through the vehicle's instrument panel, and compares the current speed of the vehicle with the actual speed limit value. When the current speed exceeds the actual speed limit value, the speed limit control logic is triggered. It is necessary to first obtain the vehicle's preset speed limit function switch status and the current cruise function status. The system checks the vehicle's speed limit function switch status, including "warning only" or "warning + speed control", and checks whether the current cruise function status (such as ACC, LCC) is turned on.

[0059] It should be noted that the vehicle is pre-configured with a speed limit function switch. The setting items of the speed limit function switch include on and off. The function flag of the speed limit function switch in the on state includes a first flag and a second flag. The first flag is set to overspeed warning only, and the second flag is set to overspeed warning and speed control, that is, overspeed warning and cruise control of vehicle speed. Common cruise functions include ACC (Adaptive Cruise Control) and LCC (Lane Centering Control). ACC is an intelligent cruise control system that can automatically adjust the speed of the vehicle according to the speed of the vehicle in front to maintain a safe distance. LCC is a lane keeping assist function that can automatically control the steering of the vehicle to keep the vehicle in the center of the lane at all times. LCC is usually used in conjunction with ACC to achieve longitudinal (vehicle speed) and lateral (direction) control of the vehicle.

[0060] Step 103, determining the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy.

[0061] In an embodiment of the present invention, a speed limit control strategy to be executed is determined according to the speed limit function switch state and the cruise function state. The speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy. The overspeed warning strategy is specifically used when the vehicle is speeding. The system sends a visual or sound alarm to the driver through the cockpit CDC to remind the driver to slow down; the overspeed warning and speed control strategy is specifically used when the vehicle is speeding. The system not only sends a visual or sound alarm to the driver through the cockpit CDC, but also interacts with the ESC through the MCU to control the vehicle speed to be reduced to the target speed.

[0062] Specifically, if the speed limit function switch is in the on state, the function flag of the speed limit function switch is the first flag, and the cruise function is in the off state, the system determines that the speed limit control strategy to be executed is the overspeed warning strategy; if the function flag of the speed limit function switch is the second flag, and the cruise function is in the on state, the system determines that the speed limit control strategy to be executed is the overspeed warning and speed control strategy. If the speed limit function switch is in the "warning only" state, the system executes the overspeed warning strategy and sends a visual or sound alarm to the driver through the cockpit CDC. If the speed limit function switch is in the "warning + speed control" state and the cruise function is turned on, the system executes the overspeed warning and speed control strategy, not only sending an alarm, but also automatically controlling the vehicle speed to slow down.

[0063] Step 104, according to the overspeed control strategy, the vehicle is given an overspeed warning, and the current vehicle speed is controlled to be reduced to a target vehicle speed according to the actual speed limit value; the target vehicle speed is less than the actual speed limit value.

[0064] In an embodiment of the present invention, according to the overspeed control strategy, the vehicle is given an overspeed warning, and the current vehicle speed is controlled to be reduced to a target speed according to the actual speed limit value. If it is an overspeed warning strategy, the cockpit CDC sends a visual or sound alarm to the driver through the HMI module to remind the driver to slow down. If it is an overspeed warning and speed control strategy: the SOC sends a braking deceleration request to the ESC through the MCU, and the ESC performs energy recovery braking or hydraulic braking according to the request, and gradually reduces the vehicle speed to the target speed. The target speed can be automatically adjusted according to the actual speed limit value, and it is necessary to ensure that the target speed is less than the actual speed limit value. During the speed control process, the system continuously monitors the current vehicle speed until the current vehicle speed is less than the actual speed limit value, and the alarm and speed control action are completed.

[0065] The vehicle control method provided by the embodiment of the present invention obtains the visual recognition speed limit value and / or the navigation map speed limit value of the vehicle, uses the visual recognition speed limit value and / or the navigation map speed limit value to determine the actual speed limit value of the vehicle, monitors the current speed of the vehicle, and when the current speed exceeds the actual speed limit value, obtains the preset speed limit function switch state and the current cruise function state of the vehicle, and determines the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state. The speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy. According to the overspeed control strategy, the vehicle is given an overspeed warning, and the current speed is controlled to be reduced to the target speed according to the actual speed limit value. The embodiment of the present invention can more accurately determine the actual speed limit value through the integration of visual recognition and navigation map, avoid the false alarm problem of a single solution, the system not only provides overspeed warning, but also automatically controls the speed when the cruise function is turned on, ensures that the vehicle always travels within the speed limit range, realizes intelligent speed limit alarm and speed limit control, greatly reduces the risk of traffic accidents caused by speeding, and effectively improves driving safety and user experience.

[0066] Further, see Figure 2 , showing Figure 1 A flowchart of step 101 in a vehicle control method is provided. The method is substantially the same as the vehicle control method provided in the first embodiment of the present invention. Step 101 may include:

[0067] Step 1011, obtaining speed limit sign information collected by the vehicle, using a pre-trained recognition model to recognize the speed limit sign information, and obtaining a visual recognition speed limit value of the vehicle;

[0068] Step 1012, when the vehicle does not start the navigation map, determine the visually recognized speed limit value as the actual speed limit value of the vehicle;

[0069] Step 1013, when the vehicle starts the navigation map, obtain the navigation map speed limit value of the vehicle, perform consistency check on the visual recognition speed limit value and the navigation map speed limit value, and determine the actual speed limit value of the vehicle according to the preset priority.

[0070] In an embodiment of the present invention, the vehicle collects speed limit sign information on the road in real time through the camera of the front-view integrated device, uses a pre-trained recognition model to recognize the collected speed limit sign information, and outputs a visual recognition speed limit value, wherein the recognition model is a deep learning model that can recognize standard and non-standard speed limit signs after being trained with a large amount of speed limit sign data. At the same time, the system checks whether the navigation map function of the vehicle is enabled. If the navigation map is not enabled, the system directly determines the visual recognition speed limit value as the actual speed limit value of the vehicle; if the navigation map is enabled, the system obtains the speed limit information of the current road section through the navigation map module, outputs the navigation map speed limit value, and performs a consistency check on the visual recognition speed limit value and the navigation map speed limit value. If the two are consistent, the speed limit value is output as the actual speed limit value. If the two are inconsistent, the system determines the actual speed limit value according to the preset priority. It should be noted that the preset priority includes: if the navigation map speed limit value is lower than the visual recognition speed limit value, and the navigation map information is in a construction or road diversion section, the visual recognition speed limit value is preferentially used, otherwise, the navigation map speed limit value is preferentially used.

[0071] For example, a vehicle is traveling on a highway. The camera of the vehicle's front-view integrated device captures a speed limit sign of 120km / h. The navigation map is not enabled. The system directly determines the visual recognition speed limit value of 120km / h as the actual speed limit value. At this time, the system detects that the current vehicle speed is 130km / h, triggering speeding control. For example, a vehicle is traveling on a city road. The front-view camera of the vehicle captures a speed limit sign of 60km / h. The navigation map is enabled. The speed limit value of the current road section is 60km / h. A consistency check is performed on the visual recognition speed limit value and the navigation map speed limit value. If the two are consistent, the actual speed limit value is determined to be 60km / h. The system detects that the current vehicle speed is 65km / h, triggering speeding control. Take the scenario of a vehicle traveling on a national highway as an example. The vehicle's forward-looking camera captures a speed limit sign of 80km / h, the navigation map is enabled, and the speed limit value of the current section is 70km / h (due to the speed limit being reduced on the construction section). The system performs a consistency check on the visual recognition speed limit value and the navigation map speed limit value. The two are inconsistent. According to the priority rule, the navigation map information is in the construction section. The system prioritizes the visual recognition speed limit value of 80km / h as the actual speed limit value. The system monitors the current vehicle speed to be 85km / h, triggering speeding control.

[0072] The embodiments of the present invention can more accurately determine the actual speed limit value through the integration of visual recognition and navigation maps, avoiding the false alarm problem of a single solution (such as pure vision or pure map), and through the pre-trained deep learning model, it can identify standard and non-standard speed limit signs, reduce the missed recognition rate and false recognition rate, and further improve the accuracy of speed limit recognition.

[0073] Specifically, step 1011 acquires the speed limit sign information collected by the vehicle, identifies the speed limit sign information, and obtains the visual recognition speed limit value of the vehicle, which may specifically include the following steps:

[0074] First, the speed limit sign information collected by the vehicle is obtained, and the speed limit sign information is recognized using a pre-trained recognition model to recognize at least one speed limit value; the speed limit value includes a ramp speed limit value and a lane speed limit value;

[0075] Secondly, if the vehicle is detected to be in a ramp scene and it is determined that the vehicle intends to enter the ramp, the ramp speed limit value is determined as the visual recognition speed limit value of the vehicle;

[0076] Secondly, otherwise, the lane speed limit value is determined as the visual recognition speed limit value of the vehicle.

[0077] It should be noted that in the above steps, the speed limit sign information on the road is collected through the front-view camera, and the pre-trained recognition model is used for recognition, and multiple speed limit values ​​(such as ramp speed limit and lane speed limit) are output. The vehicle status information (such as turn signal signal, lane line position) is used to determine whether the vehicle is in the ramp scene and whether it has the intention to enter the ramp. SOC (system-on-chip): responsible for determining the final visual recognition speed limit value based on the scene judgment results.

[0078] Specifically, the vehicle collects speed limit sign information on the road in real time through a forward-looking camera, and uses a pre-trained recognition model to recognize the collected speed limit sign information. The recognition model is trained with a large amount of speed limit sign data and is able to recognize multiple speed limit values, including but not limited to lane speed limit values ​​and ramp speed limit values. The recognition model outputs at least one of the lane speed limit value or the ramp speed limit value.

[0079] In this embodiment, in order to further ensure the accuracy of the visual recognition speed limit value, it is judged whether the vehicle is in a ramp scene. If the vehicle is monitored to be in a ramp scene and it is determined that the vehicle has the intention to enter the ramp, the ramp speed limit value is determined as the visual recognition speed limit value of the vehicle. Specifically, it is judged whether the vehicle is in a ramp scene and the intention to enter the ramp is determined through the vehicle's turn signal signal and lane line position information. If the vehicle is in a ramp scene and has the intention to enter the ramp, the system determines the ramp speed limit value as the visual recognition speed limit value of the vehicle. If the vehicle is not in a ramp scene or has no intention to enter the ramp, the system determines the lane speed limit value as the visual recognition speed limit value of the vehicle.

[0080] It should be noted that the intention to enter the ramp is determined in two ways: for example, if the vehicle is within 100 meters of the ramp and the right turn signal is activated (such as bcm_rightTurnLampSts = ON), the system determines that the driver has the intention to enter the ramp; if the driver does not turn on the right turn signal, but detects through vision that the right front wheel of the vehicle crosses the lane line (the lane line between the current straight lane and the ramp), the system also determines that the driver has the intention to enter the ramp. Among them, the system determines the wheel crossing the line method. Through the sensing end, the crossing line distance L from the outer edge of the vehicle to the outside of the lane line, the distance Y from the sensor center to the outside of the lane line, and the vehicle width W are determined, and the crossing line distance L = YW / 2 can be obtained. After the sensing end inputs the crossing line distance into the control end, the crossing line time T can be calculated by the ratio of the crossing line distance L and the lateral speed V. After the calculation of the control end, when the crossing line time T is close to zero, it can be determined that the vehicle has crossed the line. Detecting that the right front wheel of the vehicle crosses the lane line can determine that the driver has the intention to enter the ramp.

[0081] The embodiment of the present invention dynamically adjusts the visual recognition speed limit value according to the scene in which the vehicle is located (such as a ramp scene) and the driver's intention, thereby ensuring the accuracy and applicability of the speed limit information, avoiding the misuse of the lane speed limit value in the ramp scene, reducing false alarms, and improving driving safety.

[0082] Specifically, before acquiring the speed limit sign information collected by the vehicle and identifying the speed limit sign information to obtain the visual recognition speed limit value of the vehicle, the method further includes:

[0083] Obtaining a standard speed limit sign and an unconventional speed limit sign, and training a recognition model using the standard speed limit sign and the unconventional speed limit sign to obtain a trained recognition model;

[0084] If the visual recognition speed limit value and the navigation map speed limit value are inconsistent, the visual recognition speed limit value and the navigation map speed limit value are verified for accuracy, and the trained recognition model is adjusted according to the verification result.

[0085] In an embodiment of the present invention, in order to improve the accuracy of the recognition model in identifying the visual recognition speed limit value, this embodiment uses standard speed limit signs and unconventional speed limit signs to train the recognition model, and adjusts the model when the visual recognition speed limit value is inconsistent with the navigation map speed limit value.

[0086] Specifically, the system collects a large amount of image data of standard speed limit signs (such as common speed limit signs) and unconventional speed limit signs (such as temporary construction speed limit signs and non-standard speed limit signs), and uses the collected standard speed limit sign and unconventional speed limit sign data to train the deep learning model. The trained model can recognize a variety of speed limit signs, including standard and non-standard speed limit signs. The trained recognition model is deployed to the SOC chip of the vehicle controller for real-time recognition of speed limit sign information.

[0087] Specifically, the vehicle collects speed limit sign information on the road in real time through the front-view camera, uses the trained recognition model for recognition, uses the trained recognition model to recognize the collected speed limit sign information, outputs the visual recognition speed limit value, obtains the speed limit information of the current road section through the navigation map module, outputs the navigation map speed limit value, and the system performs a consistency check on the visual recognition speed limit value and the navigation map speed limit value. If the two are inconsistent, the system performs an accuracy check. The system records the current visual recognition speed limit value and the navigation map speed limit value, as well as related scene information (such as road type, construction status, etc.), and uploads the above data to the data analysis platform to compare the accuracy of the visual recognition speed limit value and the navigation map speed limit value. If the visual recognition speed limit value is judged to be wrong (such as misidentification of the ramp speed limit), the system adjusts the recognition model.

[0088] It should be noted that the misidentified speed limit sign data can be added to the training set, the model can be retrained, and the recognition model can be adjusted. After each deep learning and deviation recording and optimization, the software can be upgraded through OTA optimization to reduce the false touch rate of the pure visual solution. The optimized model can be deployed to the vehicle through OTA to improve the recognition accuracy. This embodiment does not specifically limit the software upgrade process.

[0089] The embodiment of the present invention realizes an intelligent speed limit recognition function through model training, consistency verification and model adjustment. The system can recognize standard speed limit signs and unconventional speed limit signs, and when the visual recognition speed limit value is inconsistent with the navigation map speed limit value, the recognition model is adjusted through accuracy verification to ensure the accuracy and applicability of the speed limit information, and further ensure the accurate recognition of the speed limit value.

[0090] Further, see Figure 3 , showing Figure 1 A flowchart of step 103 in a vehicle control method is provided. The method is substantially the same as the vehicle control method provided in the first embodiment of the present invention. Step 103 may include:

[0091] Step 1031: if the speed limit function switch state is on, the function flag of the speed limit function switch is the first flag, and the cruise function state is off, then determine that the speed limit control strategy to be executed is the speeding warning strategy;

[0092] Step 1032: If the speed limit function switch state is on, the function flag of the speed limit function switch is the second flag, and the cruise function state is on, it is determined that the speed limit control strategy to be executed is the overspeed warning and speed control strategy.

[0093] It should be noted that, in the embodiment of the present invention, the vehicle is pre-configured with a speed limit function switch, and the setting items of the speed limit function switch include on and off. The function flag of the speed limit function switch in the on state includes a first flag and a second flag. The first flag is set to overspeed warning only, and the second flag is set to overspeed warning and speed control, that is, overspeed warning and cruise control of vehicle speed. The cruise function is an advanced driving assistance function in the vehicle, which is used to reduce the driving burden of the driver and improve driving comfort and safety. Common cruise functions include ACC (adaptive cruise control) and LCC (lane centering control)

[0094] Specifically, in this embodiment, first check whether the speed limit function switch is in the on state. Each time the vehicle is powered on, the speed limit function switch is turned on, and the default speed limit function switch is set to the first flag. If the speed limit function switch is in the on state, the function flag of the speed limit function switch is the first flag, and the cruise function state is in the off state, the system determines that the speed limit control strategy to be executed is the overspeed warning strategy, and the overspeed warning strategy is specifically used when the vehicle is overspeeding, the system sends a visual or sound alarm to the driver through the cockpit CDC to remind the driver to slow down; if the function flag of the speed limit function switch is the second flag, and the cruise function state is in the on state, the system determines that the speed limit control strategy to be executed is the overspeed warning and speed control strategy, and the overspeed warning and speed control strategy is specifically used when the vehicle is overspeeding, the system not only sends a visual or sound alarm to the driver through the cockpit CDC, but also interacts with the ESC through the MCU to control the vehicle speed to reduce to the target speed.

[0095] It should be noted that if the function flag of the speed limit function switch is the second flag and the cruise function is in the off state, the current speed of the vehicle can be reduced by manually stepping on the brakes to slow down or manually turning on the cruise function. During the warning period, the current speed in the instrument is detected and compared with the actual speed limit. If the current speed is still greater than the actual speed limit, the warning will continue until the current speed drops to the target speed. If the target speed is less than the actual speed limit, the warning will stop.

[0096] The embodiment of the present invention realizes intelligent speed limit control strategy selection by judging the speed limit function switch state and the cruise function state, and can flexibly execute the speeding warning strategy or the speeding warning and speed control strategy according to driving needs and driving scenarios, thereby effectively improving driving safety and user experience.

[0097] Further, see Figure 4 , showing Figure 1 A flowchart of step 104 in a vehicle control method is provided. The method is substantially the same as the vehicle control method provided in the first embodiment of the present invention. Step 104 may include:

[0098] Step 1041: if the overspeed control strategy is an overspeed warning strategy, a warning request is generated and sent to the vehicle cockpit to warn the vehicle of overspeed; wherein the warning request includes a warning method;

[0099] Step 1042, if the overspeed control strategy is an overspeed warning and speed control strategy, a warning request and a speed limit request are generated, and the warning request is sent to the vehicle cabin to warn the vehicle of overspeeding, and the speed limit request is sent to the chassis electronic stability system of the vehicle to control the current vehicle speed to the target speed according to the actual speed limit value; wherein the speed limit request includes the target speed.

[0100] In the embodiment of the present invention, when the overspeed control strategy is the overspeed warning strategy, the SOC chip of the vehicle generates a warning request, wherein the warning request includes a warning mode, and the warning mode includes at least one of a visual alarm and a sound alarm. The SOC chip sends the warning request to the cockpit CDC, and the cockpit CDC provides the driver with an overspeed warning prompt through the HMI module according to the warning request. If the warning mode is a visual alarm, the cockpit CDC displays an overspeed warning on the instrument panel or the central control screen. If the warning mode is a sound alarm, the cockpit CDC emits a prompt sound through the vehicle audio to remind the driver to slow down. When the overspeed control strategy is the overspeed warning and speed control strategy, the SOC chip of the vehicle generates a warning request and a speed limit request, and the speed limit request includes a target vehicle speed, and the target vehicle speed is less than the actual speed limit value. The SOC chip sends the warning request to the cockpit CDC to execute the overspeed warning. At the same time, the SOC chip sends the speed limit request to the ESC through the MCU microcontroller, and the ESC performs a braking and deceleration operation according to the target vehicle speed in the speed limit request. Specifically, the ESC can select energy recovery braking or hydraulic braking to gradually reduce the vehicle speed to the target vehicle speed. For example, if the current vehicle speed is 120km / h, the actual speed limit is 100km / h, and the target speed is 90km / h, the system will trigger visual and sound alarms and perform braking deceleration through ESC to reduce the vehicle speed to 90km / h.

[0101] The embodiment of the present invention flexibly executes the speeding warning strategy or the speeding warning and speed control strategy by generating and issuing warning requests and speed limit requests. The system not only provides speeding warnings, but also automatically controls the speed when the cruise function is turned on, thereby realizing intelligent speed limit alarm and speed limit control, and effectively improving driving safety and user experience.

[0102] Reference Figure 6, shows a flow chart of steps of another vehicle control method provided by an embodiment of the present invention, which method is basically the same as the vehicle control method provided by the first embodiment of the present invention, except that the method may further include:

[0103] Step 105, in response to the vehicle being powered on, initializing the vehicle to detect whether the data link status of the vehicle is normal; the data link includes a visual recognition link and a navigation map link.

[0104] Step 106, when the visual recognition link and the navigation map link are normal, determine the initial speed limit function switch state and cruise function state of the vehicle.

[0105] In the embodiment of the present invention, after the vehicle is started, the system automatically enters the initialization detection process. The system checks whether the visual recognition link is normal, including whether the camera data can be normally transmitted to the SOC. If the visual recognition link is normal, the system continues to detect the navigation map link. If the visual recognition link is abnormal, the system records the fault and prompts the driver to check the camera or related hardware. The system checks whether the navigation map link is normal, including whether the map data can be normally transmitted to the SOC. If the navigation map link is normal, the system determines the initial speed limit function switch state and cruise function state of the vehicle when the visual recognition link and the navigation map link are normal. If the navigation map link is abnormal, the system records the fault and prompts the driver to check the navigation system or related hardware.

[0106] Specifically, the system reads the current state of the speed limit function switch and determines its function flag. The first flag is warning only, which issues an alarm when the vehicle exceeds the speed limit, but does not control the speed. The second flag is warning + speed control, which issues an alarm and automatically controls the speed when the vehicle exceeds the speed limit. The system checks the current state of the cruise function module to determine whether the cruise function is turned on. If the cruise function (such as ACC, LCC) is turned on, the system records the cruise function state as "on". If the cruise function is turned off, the system records the cruise function state as "off".

[0107] For example, after the vehicle is powered on, the system reads parameter information such as the vehicle's visual sensor, installation position and angle, and self-checks whether the camera data link, radar data link, map data link, and vehicle status information link are normal; the system also checks the status bit of the speed limit function switch. For safety reasons, this function is turned on by default as "warning only" each time the vehicle is powered on. The speeding warning method can also be set to a visual warning option and a sound warning option according to the warning method. This function is turned on by default as "visual warning" each time the vehicle is powered on.

[0108] Step 101, obtaining a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle, and using the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle.

[0109] Step 102, monitor the current speed of the vehicle, and when the current speed exceeds the actual speed limit, obtain the vehicle's preset speed limit function switch state and the current cruise function state.

[0110] Step 103, determining the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy.

[0111] Step 104, according to the overspeed control strategy, the vehicle is given an overspeed warning, and the current vehicle speed is controlled to be reduced to a target vehicle speed according to the actual speed limit value; the target vehicle speed is less than the actual speed limit value.

[0112] The above steps 101 to 104 are described in the foregoing description and will not be repeated here.

[0113] Compared with the prior art, the embodiments of the present invention, on the basis of achieving the beneficial effects brought by the first embodiment, ensure the normal operation of the system's data link (such as the visual recognition link and the navigation map link) through initialization detection when the vehicle is powered on, and determine the initial speed limit function switch state and cruise function state of the vehicle. The system provides a reliable basis for subsequent speed limit identification and control strategy execution through initialization detection and state confirmation.

[0114] Reference Figure 7 , shows a schematic structural diagram of a vehicle control device provided by an embodiment of the present invention, the device comprising:

[0115] The speed limit determination module 201 is used to obtain a visually recognized speed limit value of the vehicle and / or a navigation map speed limit value, and use the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle;

[0116] The overspeed monitoring module 202 is used to monitor the current speed of the vehicle, and when the current speed exceeds the actual speed limit value, obtain the vehicle's preset speed limit function switch state and the current cruise function state;

[0117] The speed limit strategy determination module 203 is used to determine the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy;

[0118] The speed limit control module 204 is used to issue an overspeed warning to the vehicle according to the overspeed control strategy, and to control the current vehicle speed to decrease to a target vehicle speed according to the actual speed limit value; the target vehicle speed is less than the actual speed limit value.

[0119] Furthermore, the speed limit value determination module 201 includes:

[0120] The recognition submodule is used to obtain the speed limit sign information collected by the vehicle, and use the pre-trained recognition model to recognize the speed limit sign information to obtain the visual recognition speed limit value of the vehicle;

[0121] A first determination submodule, configured to determine the visually recognized speed limit value as the actual speed limit value of the vehicle when the vehicle does not start the navigation map;

[0122] The second determination submodule is used to obtain the navigation map speed limit value of the vehicle when the vehicle starts the navigation map, perform consistency check on the visual recognition speed limit value and the navigation map speed limit value, and determine the actual speed limit value of the vehicle according to a preset priority.

[0123] Furthermore, the identification submodule includes:

[0124] An identification unit, used to obtain speed limit sign information collected by the vehicle, identify the speed limit sign information using a pre-trained identification model, and identify at least one speed limit value; the speed limit value includes a ramp speed limit value and a lane speed limit value;

[0125] A first determination unit is configured to determine the ramp speed limit as the visual recognition speed limit of the vehicle if it is detected that the vehicle is in a ramp scene and it is determined that the vehicle intends to enter the ramp;

[0126] The second determining unit is used to determine the lane speed limit value as the visual recognition speed limit value of the vehicle otherwise.

[0127] Furthermore, the speed limit value determination module 201 further includes:

[0128] A training submodule, used to obtain a standard speed limit sign and an unconventional speed limit sign, and train a recognition model using the standard speed limit sign and the unconventional speed limit sign to obtain a trained recognition model;

[0129] The adjustment submodule is used to verify the accuracy of the visual recognition speed limit value and the navigation map speed limit value if they are inconsistent, and adjust the trained recognition model according to the verification result.

[0130] Furthermore, the speed limit strategy determination module 203 includes:

[0131] A first strategy submodule, for determining that the speed limit control strategy to be executed is an overspeed warning strategy if the speed limit function switch state is on, the function flag bit of the speed limit function switch is the first flag bit, and the cruise function state is off;

[0132] The second strategy submodule is used to determine that the speed limit control strategy to be executed is an overspeed warning and speed control strategy if the speed limit function switch state is on, the function flag bit of the speed limit function switch is the second flag bit, and the cruise function state is on.

[0133] Furthermore, the speed limit control module 204 includes:

[0134] The first control submodule is used to generate a warning request if the overspeed control strategy is an overspeed warning strategy, and send the warning request to the vehicle cockpit to warn the vehicle of overspeed; wherein the warning request includes a warning method;

[0135] The second control submodule is used to generate a warning request and a speed limit request if the overspeed control strategy is an overspeed warning and speed control strategy, and send the warning request to the vehicle cabin to issue an overspeed warning to the vehicle, and send the speed limit request to the chassis electronic stability system of the vehicle to control the current vehicle speed to be reduced to a target vehicle speed according to the actual speed limit value; wherein the speed limit request includes the target vehicle speed.

[0136] Furthermore, the device also includes:

[0137] An initialization detection module, for performing initialization detection on the vehicle in response to the vehicle being powered on, to detect whether the data link status of the vehicle is normal; the data link includes a visual recognition link and a navigation map link;

[0138] The function status determination module is used to determine the vehicle's initial speed limit function switch status and cruise function status when the visual recognition link and the navigation map link are normal.

[0139] The vehicle control device provided by the embodiment of the present invention obtains the visual recognition speed limit value and / or the navigation map speed limit value of the vehicle, uses the visual recognition speed limit value and / or the navigation map speed limit value to determine the actual speed limit value of the vehicle, monitors the current speed of the vehicle, and obtains the preset speed limit function switch state and the current cruise function state of the vehicle when the current speed exceeds the actual speed limit value. According to the speed limit function switch state and the cruise function state, the speed limit control strategy to be executed is determined, and the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy. According to the overspeed control strategy, the vehicle is given an overspeed warning, and the current speed is controlled to be reduced to the target speed according to the actual speed limit value. The embodiment of the present invention can more accurately determine the actual speed limit value through the integration of visual recognition and navigation map, avoid the false alarm problem of a single solution, the system not only provides overspeed warning, but also automatically controls the speed when the cruise function is turned on, ensures that the vehicle always travels within the speed limit range, realizes intelligent speed limit alarm and speed limit control, greatly reduces the risk of traffic accidents caused by speeding, and effectively improves driving safety and user experience.

[0140] Reference Figure 8 , an embodiment of the present invention further provides an electronic device, such as Figure 8 As shown, it includes a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304.

[0141] A processor 301, a memory 303 for storing processor executable instructions;

[0142] The processor 301 is configured to execute the instructions to implement the vehicle control method described below:

[0143] Obtain a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle, and use the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle.

[0144] Monitor the current speed of the vehicle, and when the current speed exceeds the actual speed limit, obtain the vehicle's preset speed limit function switch status and the current cruise function status.

[0145] The speed limit control strategy to be executed is determined according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy.

[0146] According to the overspeed control strategy, the vehicle is given an overspeed warning, and the current vehicle speed is controlled to be reduced to a target vehicle speed according to the actual speed limit value; the target vehicle speed is less than the actual speed limit value.

[0147] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0148] The communication interface is used for communication between the above terminal and other devices.

[0149] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0150] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0151] In another embodiment provided by the present invention, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method described in any of the above embodiments is implemented.

[0152] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0153] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0154] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0155] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtaining a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle, and using the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle; Monitoring the current speed of the vehicle, and obtaining a preset speed limit function switch state and a current cruise function state of the vehicle when the current speed exceeds the actual speed limit value; Determine the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy; According to the overspeed control strategy, an overspeed warning is issued to the vehicle, and according to the actual speed limit value, the current vehicle speed is controlled to be reduced to a target vehicle speed; the target vehicle speed is less than the actual speed limit value.

2. The method according to claim 1, characterized in that The obtaining of a visually recognized speed limit value and / or a navigation map speed limit value of the vehicle, and using the visually recognized speed limit value and / or the navigation map speed limit value to determine an actual speed limit value of the vehicle, includes: Obtaining speed limit sign information collected by the vehicle, using a pre-trained recognition model to recognize the speed limit sign information, and obtaining a visual recognition speed limit value of the vehicle; When the vehicle does not start the navigation map, the visually recognized speed limit value is determined as the actual speed limit value of the vehicle; When the vehicle starts the navigation map, the navigation map speed limit value of the vehicle is obtained, the consistency check is performed on the visual recognition speed limit value and the navigation map speed limit value, and the actual speed limit value of the vehicle is determined according to a preset priority.

3. The method according to claim 2, characterized in that The acquiring of the speed limit sign information collected by the vehicle, identifying the speed limit sign information, and obtaining the visually recognized speed limit value of the vehicle includes: Acquire speed limit sign information collected by the vehicle, use a pre-trained recognition model to recognize the speed limit sign information, and recognize at least one speed limit value; the speed limit value includes a ramp speed limit value and a lane speed limit value; If the vehicle is detected to be in a ramp scene and it is determined that the vehicle intends to enter the ramp, the ramp speed limit value is determined as the visual recognition speed limit value of the vehicle; Otherwise, the lane speed limit value is determined as the visual recognition speed limit value of the vehicle.

4. The method according to claim 2, characterized in that: Before acquiring the speed limit sign information collected by the vehicle and identifying the speed limit sign information to obtain the visually recognized speed limit value of the vehicle, the method further includes: Obtaining a standard speed limit sign and an unconventional speed limit sign, and using the standard speed limit sign and the unconventional speed limit sign to train a recognition model to obtain a trained recognition model; If the visual recognition speed limit value and the navigation map speed limit value are inconsistent, the visual recognition speed limit value and the navigation map speed limit value are verified for accuracy, and the trained recognition model is adjusted according to the verification result obtained.

5. The method according to claim 1, characterized in that The speed limit control strategy to be executed is determined according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy, including: If the speed limit function switch state is on, the function flag of the speed limit function switch is the first flag, and the cruise function state is off, then the speed limit control strategy to be executed is determined to be an overspeed warning strategy; If the speed limit function switch state is on, the function flag of the speed limit function switch is the second flag, and the cruise function state is on, it is determined that the speed limit control strategy to be executed is the overspeed warning and speed control strategy.

6. The method according to claim 1, characterized in that The step of providing an overspeed warning to the vehicle according to the overspeed control strategy, and controlling the current vehicle speed to decrease to the target vehicle speed according to the actual speed limit value, comprises: If the overspeed control strategy is an overspeed warning strategy, a warning request is generated and sent to the vehicle cockpit to warn the vehicle of overspeed; wherein the warning request includes a warning method; If the overspeed control strategy is an overspeed warning and speed control strategy, a warning request and a speed limit request are generated, and the warning request is sent to the vehicle cabin to warn the vehicle of overspeeding, and the speed limit request is sent to the vehicle's chassis electronic stability system to control the current vehicle speed to be reduced to the target speed according to the actual speed limit value; wherein the speed limit request includes the target speed.

7. The method according to claim 1, characterized in that The step of obtaining the visually recognized speed limit value and / or the navigation map speed limit value of the vehicle and using the visually recognized speed limit value and / or the navigation map speed limit value to determine the actual speed limit value of the vehicle further includes: In response to the vehicle being powered on, initializing the vehicle to detect whether the data link status of the vehicle is normal; the data link includes a visual recognition link and a navigation map link; When the visual recognition link and the navigation map link are normal, the initial speed limit function switch state and cruise function state of the vehicle are determined.

8. A vehicle control device, characterized in that: The device comprises: A speed limit determination module is used to obtain a visually recognized speed limit value of the vehicle and / or a navigation map speed limit value, and to determine an actual speed limit value of the vehicle using the visually recognized speed limit value and / or the navigation map speed limit value; An overspeed monitoring module is used to monitor the current speed of the vehicle, and when the current speed exceeds the actual speed limit value, obtain the vehicle's preset speed limit function switch state and the current cruise function state; A speed limit strategy determination module is used to determine the speed limit control strategy to be executed according to the speed limit function switch state and the cruise function state; wherein the speed limit control strategy includes an overspeed warning strategy and an overspeed warning and speed control strategy; The speed limit control module is used to provide an overspeed warning to the vehicle according to the overspeed control strategy, and to control the current vehicle speed to be reduced to a target vehicle speed according to the actual speed limit value; the target vehicle speed is less than the actual speed limit value.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the instructions to implement the vehicle control method as claimed in any one of claims 1 to 7.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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