Assisted driving speed limit control method and system integrating perception and navigation

Abstract

The invention belongs to the technical field of aided driving, and particularly relates to an aided driving speed-limiting control method and system fusing perception and navigation, and the method comprises the steps: obtaining the navigation speed-limiting information and road traffic information of a vehicle, fusing the navigation speed-limiting information and the road traffic information, and carrying out the real-time adjustment of the current vehicle speed, comprising the steps that if the distance between a vehicle and a speed limit board is smaller than the distance between a navigation path and a next speed limit starting point, the speed limit value of the road speed limit board serves as the target vehicle speed of a self-adaptive cruise system; otherwise, taking the current speed limit value of the navigation path as the target vehicle speed of the self-adaptive cruise system; in the vehicle driving process, the road traffic speed limit information is sensed in real time through the sensing system and fused with the navigation speed limit data provided by the vehicle-mounted navigation system, the correct speed limit value of the current road is obtained, and the requirement of a user for intelligent driving is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of assisted driving, and in particular relates to an assisted driving speed limit control method and system integrating perception and navigation. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of sensor technology and chip computing power, artificial intelligence has been widely used in the field of intelligent driving. Advanced Driving Assistance System (ADAS) has been fully popularized in the automotive industry, improving driving comfort.

[0004] The current mainstream advanced driving assistance systems usually include adaptive cruise control ACC (Automatic Adaptive Cruise), lane assistance system LSS (Lane Support System), speed limit assistance SLA (Speed ​​Limit Assist), etc. If the driver turns on the advanced driving assistance function, the vehicle can stay in the lane at the set speed;

[0005] However, due to the complex and changeable road conditions, the existing ADAS system requires the driver to always observe the current speed limit information and vehicle conditions to manually adjust the speed, and the intelligence level of the driving assistance system is relatively low. Summary of the invention

[0006] In order to address the deficiencies in the prior art, the present invention provides an assisted driving speed limit control method, system, electronic device, computer-readable storage medium and computer program product that integrates perception and navigation. During vehicle driving, the perception system is used to perceive road traffic speed limit information in real time, and the information is integrated with the navigation speed limit data provided by the on-board navigation system to obtain the correct speed limit value for the current road. This is a control strategy that takes into account safety, convenience and comfort, and further enhances users' demand for intelligent driving.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0008] In a first aspect, the present invention provides an assisted driving speed limit control method integrating perception and navigation;

[0009] An assisted driving speed limit control method integrating perception and navigation, comprising:

[0010] Get the vehicle's navigation speed limit information, including: the current speed limit value of the navigation path, and the distance from the navigation path to the next speed limit starting point;

[0011] Obtaining road traffic information perceived by the vehicle in real time, including: the speed limit value of the road speed limit sign and the distance between the vehicle and the speed limit sign;

[0012] Integrate navigation speed limit information and road traffic information to adjust the current vehicle speed in real time, including:

[0013] If the distance between the vehicle and the speed limit sign and the distance from the navigation path to the next speed limit starting point are both less than the first distance threshold, and the distance between the vehicle and the speed limit sign is less than the distance from the navigation path to the next speed limit starting point, the speed limit value on the road speed limit sign is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed; otherwise, the current speed limit value on the navigation path is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed;

[0014] When the vehicle reaches the speed limit sign on the road, the real-time accumulated mileage of the vehicle is obtained. When the real-time accumulated mileage is greater than the second distance threshold, if the speed limit value on the speed limit sign on the road is not equal to the current speed limit value of the navigation path, the current speed limit value of the navigation path is used as the target speed of the adaptive cruise system.

[0015] In a second aspect, the present invention provides an assisted driving speed limit control system integrating perception and navigation;

[0016] An assisted driving speed limit control system integrating perception and navigation, comprising:

[0017] The vehicle navigation information acquisition module is configured to: acquire the navigation speed limit information of the vehicle, including: the current speed limit value of the navigation path, and the distance from the navigation path to the next speed limit starting point;

[0018] The road traffic information acquisition module is configured to: acquire the road traffic information perceived by the vehicle in real time, including: the speed limit value of the road speed limit sign and the distance between the vehicle and the speed limit sign;

[0019] The current vehicle speed real-time adjustment module is configured to: integrate navigation speed limit information and road traffic information to adjust the current vehicle speed in real time, including:

[0020] If the distance between the vehicle and the speed limit sign and the distance from the navigation path to the next speed limit starting point are both less than the first distance threshold, and the distance between the vehicle and the speed limit sign is less than the distance from the navigation path to the next speed limit starting point, the speed limit value on the road speed limit sign is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed; otherwise, the current speed limit value on the navigation path is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed;

[0021] When the vehicle reaches the speed limit sign on the road, the real-time accumulated mileage of the vehicle is obtained. When the real-time accumulated mileage is greater than the second distance threshold, if the speed limit value on the speed limit sign on the road is not equal to the current speed limit value of the navigation path, the current speed limit value of the navigation path is used as the target speed of the adaptive cruise system.

[0022] In a third aspect, the present invention provides an electronic device;

[0023] An electronic device includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned assisted driving speed limit control method integrating perception and navigation.

[0024] In a fourth aspect, the present invention provides a computer-readable storage medium;

[0025] A computer-readable storage medium stores a computer program / instruction thereon, which, when executed by a processor, implements the steps of the above-mentioned assisted driving speed limit control method based on fusion perception and navigation.

[0026] In a fifth aspect, the present invention provides a computer program product;

[0027] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned assisted driving speed limit control method based on fusion perception and navigation.

[0028] One or more of the above technical solutions have the following beneficial effects:

[0029] (1) The present invention integrates the perceived road speed limit and the map speed limit information provided by the navigation system to obtain the correct speed limit value of the current road, and can obtain the distance to traffic nodes in real time. When approaching intersections, traffic lights, roundabouts, and ramp entrances and exits, the vehicle speed is appropriately reduced to ensure driving safety.

[0030] (2) In the process of adjusting the current vehicle speed by integrating the road speed limit and the map speed limit information provided by the navigation system, the present invention can further reduce the vehicle speed according to the road traffic volume to ensure driving safety. When the vehicle exits the roundabout, if the traffic volume is light, the vehicle speed can be safely and comfortably increased to the upper speed limit, thereby improving the assisted driving experience.

[0031] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 This is a flow chart of the method of the first embodiment.

[0034] Figure 2 Schematic diagram of a roundabout in the first embodiment.

[0035] Figure 3 It is a system structure diagram of the second embodiment. DETAILED DESCRIPTION

[0036] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0039] Embodiment 1

[0040] like Figure 1 As shown, this embodiment discloses an assisted driving speed limit control method integrating perception and navigation, including:

[0041] Step 1: Obtain the navigation speed limit information provided by the vehicle navigation system, including: the current speed limit value V (navi_limit0) of the navigation path and the distance S (limit1) from the navigation path to the next speed limit starting point; adjust the current vehicle speed in real time according to the navigation speed limit information;

[0042] Step 2: Obtain the road traffic information perceived by the perception system in real time, including: the speed limit value V(vision_limit0) of the road speed limit sign and the distance S(sign) between the vehicle and the speed limit sign;

[0043] Step 3: Integrate navigation speed limit information and road traffic information to adjust the current vehicle speed in real time.

[0044] As an implementation mode, in step 1, the current vehicle speed is adjusted in real time according to the navigation speed limit information, including:

[0045] like Figure 2 As shown, if the vehicle is located at point A, the navigation system outputs V(navi_limit0). At this time, it is determined that the road speed limit is V(navi_limit0), and the adaptive cruise control system (ACC) adjusts the target speed limit to not exceed V(navi_limit0).

[0046] As an implementation method, in step 2, this embodiment mainly uses a camera installed under the front windshield to dynamically capture the road image in front of the vehicle. After the road image is processed, structured information, namely, road traffic information, is obtained and provided to the decision-making center.

[0047] As an implementation method, in step 3, the current vehicle speed is adjusted in real time by integrating the navigation speed limit information and the road traffic information, including:

[0048] (1) If the distance S(sign) from the vehicle to the speed limit sign and the distance S(limit1) from the navigation path to the next speed limit starting point are both less than a first distance threshold (set to 70 m in this embodiment), and the distance S(sign) from the vehicle to the speed limit sign is less than the distance S(limit1) from the navigation path to the next speed limit starting point, then the speed limit value V(vision_limit0) on the road speed limit sign is used as the target speed of the adaptive cruise control system (ACC), and the current vehicle speed V(vehicle) is controlled to drop to the target speed; otherwise, the current speed limit value V(navi_limit0) on the navigation path is used as the target speed of the adaptive cruise control system (ACC), and the current vehicle speed V(vehicle) is controlled to drop to the target speed;

[0049] (2) When the vehicle reaches the speed limit sign on the road, the real-time accumulated mileage of the vehicle is obtained. When the real-time accumulated mileage is greater than the second distance threshold S (hold_distance), if the speed limit value V (vision_limit0) on the road speed limit sign is not equal to the current speed limit value V (navi_limit0) of the navigation path, the current speed limit value of the navigation path is used as the target speed of the adaptive cruise control system (ACC).

[0050] For example: when the camera captures that the vehicle has passed a speed limit sign, and the adaptive cruise control system (ACC) adjusts the target speed limit not to exceed V(vision_limit0), the real-time mileage accumulation begins. When the real-time accumulated mileage exceeds S(hold_distance), if V(vision_limit0)≠V(navi_limit0), the adaptive cruise control system (ACC) target speed limit is adjusted not to exceed V(navi_limit0). When the vehicle passes a speed limit sign, the distance of the speed limit sign can be preset, such as the front of the vehicle passes and the distance between the front of the vehicle and the speed limit sign is X meters.

[0051] As an implementation method, the method further includes: step 4: obtaining navigation path information provided by the vehicle navigation system, including: a next speed limit value V (navi_limit1) of the navigation path, a distance S (node) from the navigation path to the next road node, a type Type (node) of the navigation path to the next road node, and a current road traffic flow F;

[0052] Step 5: Adjust the current vehicle speed in real time according to the navigation path information, navigation speed limit information and road traffic information; including: determining whether the following conditions are met:

[0053] The current vehicle speed V(vehicle) is greater than the first vehicle speed threshold, the distance S(node) from the navigation path to the next road node is less than or equal to the third distance threshold, and less than the distance S(limit1) from the navigation path to the next speed limit start point, and the type Type(node) from the navigation path to the next road node is a traffic light, road intersection, ramp entrance or exit, or roundabout;

[0054] (1) If all of the above conditions are met, the current vehicle speed V(vehicle) is adjusted according to the first proportional value (0.7), and the adjusted current vehicle speed (V(vehicle)*0.7) is used as the target vehicle speed of the adaptive cruise control system (ACC);

[0055] In the process of adjusting the current vehicle speed according to the first proportional value, if step 3 is performed (i.e., integrating the navigation speed limit information and the road traffic information to adjust the current vehicle speed in real time), the minimum value among the current speed limit value of the navigation path, the speed limit value of the road speed limit sign and the target speed adjusted according to the first proportional value {V(vision_limit0), V(navi_limit0), V(vehicle)*0.7} is used as the target speed of the adaptive cruise system.

[0056] (2) If all of the above conditions are met and the current road traffic flow F is greater than the set traffic flow threshold, the current vehicle speed is adjusted according to the second proportional value (0.6), and the adjusted current vehicle speed (V(vehicle)*0.6) is used as the target speed of the adaptive cruise control system.

[0057] For example, in this embodiment, the first vehicle speed threshold is set to 40km / h, the third distance threshold is set to 40m, the first ratio value is set to 0.7, the second ratio value is set to 0.6, and the flow threshold is set to 50%. The setting of the threshold can be calibrated as needed. Specifically, assuming that there are no other participants on the road, the traffic flow F is considered to be 0%. If there is severe congestion and difficulty in passing on the road, the traffic flow F is considered to be 100%. The set flow threshold of 50% can be understood as there are many road participants and the utilization rate is 50%. This coefficient can be calculated by the number of vehicles, distance, and lane width recognized by the camera, and can also be converted through the information provided by the online navigation map.

[0058] As an implementation method, it also includes: when the vehicle enters the roundabout C position, the steering wheel angle A(steering)>30° (calibrable and adjustable), the maximum safe acceleration Aymax(safe) for turning is calculated by the road radius R(curve), if the lane assist system is turned on, the lane keeping maximum lateral acceleration Aymax(LSS) is calculated by the current vehicle speed V(vehicle), and the current vehicle speed of the adaptive cruise control system (ACC) is reduced to the target speed until the vehicle lateral acceleration Ay(rt) is less than the smaller of {Aymax(safe), Aymax(LSS)}. Among them, the target vehicle speed is pre-set according to the actual situation. If the vehicle speed is still greater than the speed limit V(navi_limit0) in the roundabout at this time, the adaptive cruise control system (ACC) will reduce the target speed to V(vision_limit0) at a maximum comfort deceleration not exceeding the prescribed maximum.

[0059] As an implementation method, it also includes: when the vehicle reaches the exit position of the roundabout and the current road traffic volume is less than the traffic threshold, the next speed limit value of the navigation path is used as the target speed of the adaptive cruise system, and the current vehicle speed is controlled to increase to the target speed.

[0060] like Figure 2 As shown, when the vehicle reaches point D and exits the roundabout, the steering wheel angle A (steering) is greater than 30° (calibrable and adjustable), and the traffic volume F is less than 50%, the adaptive cruise control system (ACC) increases the current vehicle speed to the target speed, wherein the next speed limit value of the navigation path is used as the target speed of the adaptive cruise control system. The vehicle speed is increased to the next speed limit V (navi_limit1) of the navigation path without exceeding the prescribed maximum comfortable acceleration.

[0061] As an implementation method, before adjusting the current vehicle speed in real time, the method further includes: determining whether the following prerequisites are met:

[0062] The driver turns on the vehicle's assisted driving functions, including the Lane Assist System (LSS), Adaptive Cruise Control (ACC), Speed ​​Limit Assist (SLA), and Speed ​​Control System (SCF); and the navigation and positioning status are normal, and the map information is valid;

[0063] If all the above conditions are met, the current vehicle speed will be adjusted in real time based on the navigation information provided by the on-board navigation system and the road traffic information perceived by the perception system in real time.

[0064] As an implementation mode, the method further includes: adjusting the current vehicle speed in real time according to the navigation speed limit information, including:

[0065] If the vehicle is at point A, the navigation system outputs V(navi_limit0). At this time, the road speed limit is determined to be V(navi_limit0), and the adaptive cruise control system (ACC) adjusts the target speed limit to not exceed V(navi_limit0).

[0066] Embodiment 2

[0067] like Figure 3 As shown, this embodiment discloses an assisted driving speed limit control system integrating perception and navigation, including:

[0068] The vehicle navigation information acquisition module is configured to: acquire navigation speed limit information provided by the vehicle navigation system, including: the current speed limit value of the navigation path, and the distance from the navigation path to the next speed limit starting point;

[0069] The road traffic information acquisition module is configured to: acquire the road traffic information perceived by the perception system in real time, including: the speed limit value of the road speed limit sign and the distance between the vehicle and the speed limit sign;

[0070] The current vehicle speed real-time adjustment module is configured to: integrate navigation speed limit information and road traffic information to adjust the current vehicle speed in real time, including:

[0071] If the distance between the vehicle and the speed limit sign and the distance from the navigation path to the next speed limit starting point are both less than the first distance threshold, and the distance between the vehicle and the speed limit sign is less than the distance from the navigation path to the next speed limit starting point, the speed limit value on the road speed limit sign is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed; otherwise, the current speed limit value on the navigation path is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed;

[0072] When the vehicle reaches the speed limit sign on the road, the real-time accumulated mileage of the vehicle is obtained. When the real-time accumulated mileage is greater than the second distance threshold, if the speed limit value on the speed limit sign on the road is not equal to the current speed limit value of the navigation path, the current speed limit value of the navigation path is used as the target speed of the adaptive cruise system.

[0073] Among them, 1. The in-vehicle navigation system provides the driver with vehicle route planning and traffic information services based on the in-vehicle GPS (Global Positioning System) and electronic maps. The electronic maps store road speed limit information and starting positions.

[0074] The in-car navigation system specifically provides the following information:

[0075] (1) Navigation current road speed limit V (navi_limit0).

[0076] (2) The next speed limit V (navi_limit1) of the navigation path.

[0077] (3) The distance S(limit1) from the navigation path to the next speed limit starting point.

[0078] (4) The distance S(node) from the navigation path to the next road node.

[0079] (5) The type of navigation path to the next road node Type (node).

[0080] (6) Current traffic flow F.

[0081] 2. The perception system includes millimeter-wave radar, camera, ultrasonic probe, etc.; the millimeter-wave radar is located in the center of the front end of the vehicle and the four corners of the body, the camera is located in the center of the front windshield and around the body, and the ultrasonic probe is located at the front and rear bumpers of the vehicle. It is responsible for sensing and identifying environmental road conditions, other traffic participants, obstacles and other information; when the system is running, the intelligent driving sensor sends these environmental and target data to the assisted driving controller.

[0082] 3. Motion actuator

[0083] The motion actuator is composed of various electronic and mechanical units that control the lateral and longitudinal movement of the vehicle, including: electronic stability control system (ESC), electronic power steering system (EPS), engine control system (ECU), transmission (TCU), vehicle control unit (VCU), inertial measurement unit (IMU), etc.

[0084] The actuator can not only receive vehicle control instructions from the upper-level assisted driving system, such as acceleration requests, braking requests, steering wheel angle requests, etc., and respond to these requests, but also send the vehicle's motion information to the bus to complete the lateral and longitudinal motion control of the vehicle by humans or assisted driving systems.

[0085] In this embodiment, the following information is provided: (1) real-time vehicle speed V(vehicle), (2) steering wheel angle A(steering), and (3) Y-direction acceleration Ay(rt).

[0086] 4. In-vehicle information display and entertainment system

[0087] The in-vehicle infotainment system (IVI for short) consists of a host, instrument panel, central control display, combination switch, etc. It provides the driver with a human-vehicle interaction interface and displays vehicle status and traffic information. The driver can directly operate buttons and soft switches on the combination switch or central control touch screen to control the opening and closing of various electrical functions of the vehicle body.

[0088] 5. Advanced Driver Assistance Systems

[0089] Advanced driving assistance system (ADAS) is the decision-making center of the advanced driving assistance system. It receives and processes the target and environmental information of the sensor, combines the vehicle motion information on the bus and the driver's intention, and completes a variety of assisted driving functions. The assisted driving functions involved in the present invention include: lane assist system (LSS), adaptive cruise control system (ACC), speed limit assist system (SLA), speed control system (SCF), etc. The speed control system controls the vehicle speed by integrating the perceived road speed limit data and navigation data, which plays a role in safe driving and comfortable vehicle control.

[0090] The present invention utilizes a speed control system (SCF) to control the longitudinal movement of the vehicle through an adaptive cruise control system (ACC) and a lane assist system (LSS) to control the lateral movement. The speed limit perceived by the camera and the map speed limit information provided by the navigation are integrated through a speed limit assist system (SLA) to obtain the correct speed limit value of the current road, and can obtain the distance of the traffic node in real time. When approaching intersections, traffic lights, roundabouts, and ramp entrances and exits, the speed is appropriately reduced to ensure driving safety, and the speed can be further reduced according to the road traffic volume to ensure driving safety. When the vehicle exits the roundabout, if the traffic volume is small, the speed can also be controlled to safely and comfortably increase to the upper speed limit, thereby improving the assisted driving experience.

[0091] It should be noted that the above modules correspond to the steps in Embodiment 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Embodiment 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0092] Embodiment 3

[0093] Embodiment 3 of the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps of the above-mentioned assisted driving speed limit control method integrating perception and navigation are completed.

[0094] Embodiment 4

[0095] Embodiment 4 of the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the above-mentioned assisted driving speed limit control method integrating perception and navigation are completed.

[0096] Embodiment 5

[0097] Embodiment 5 of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned assisted driving speed limit control method integrating perception and navigation.

[0098] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] The description of each embodiment in the above embodiments has different emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An assisted driving speed limit control method integrating perception and navigation, characterized in that: include: Get the vehicle's navigation speed limit information, including: the current speed limit value of the navigation path, and the distance from the navigation path to the next speed limit starting point; Obtaining road traffic information perceived by the vehicle in real time, including: the speed limit value of the road speed limit sign and the distance between the vehicle and the speed limit sign; Integrate navigation speed limit information and road traffic information to adjust the current vehicle speed in real time, including: If the distance between the vehicle and the speed limit sign and the distance from the navigation path to the next speed limit starting point are both less than the first distance threshold, and the distance between the vehicle and the speed limit sign is less than the distance from the navigation path to the next speed limit starting point, the speed limit value on the road speed limit sign is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed; otherwise, the current speed limit value on the navigation path is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed; When the vehicle reaches the speed limit sign on the road, the real-time accumulated mileage of the vehicle is obtained. When the real-time accumulated mileage is greater than the second distance threshold, if the speed limit value on the speed limit sign on the road is not equal to the current speed limit value of the navigation path, the current speed limit value of the navigation path is used as the target speed of the adaptive cruise system.

2. The assisted driving speed limit control method integrating perception and navigation as claimed in claim 1, characterized in that: The road traffic information is perceived in real time by a perception system, wherein the perception system includes a camera installed at the center of the front windshield, and the camera is used to capture an image of the road in front of the vehicle.

3. The assisted driving speed limit control method integrating perception and navigation as claimed in claim 1, characterized in that: It also includes obtaining navigation path information of the vehicle, including: the next speed limit value of the navigation path, the distance from the navigation path to the next road node, the type of the navigation path to the next road node, and the current road traffic volume; The current vehicle speed is adjusted in real time according to the navigation path information, navigation speed limit information and road traffic information, including: determining whether the following conditions are met: The current vehicle speed is greater than the first vehicle speed threshold, the distance from the navigation path to the next road node is less than or equal to the third distance threshold and less than the distance from the navigation path to the next speed limit start point, and the type of the navigation path to the next road node is a traffic light, a road intersection, a ramp entrance or exit, or a roundabout; If all the above conditions are met, the current vehicle speed is adjusted according to the first proportional value, and the adjusted current vehicle speed is used as the target vehicle speed of the adaptive cruise control system; In the process of adjusting the current vehicle speed according to the first proportional value, if the navigation speed limit information and the road traffic information are integrated to adjust the current vehicle speed in real time, the minimum value of the current speed limit value of the navigation path, the speed limit value of the road speed limit sign and the target speed adjusted according to the first proportional value will be used as the target speed of the adaptive cruise system.

4. The assisted driving speed limit control method integrating perception and navigation as claimed in claim 3, characterized in that: If the above conditions are all met and the current road traffic volume is greater than the set traffic volume threshold, the current vehicle speed is adjusted according to the second proportional value, and the adjusted current vehicle speed is used as the target vehicle speed of the adaptive cruise control system.

5. The assisted driving speed limit control method integrating perception and navigation as claimed in claim 3, characterized in that: When the vehicle enters the roundabout entrance and the steering wheel angle is greater than the set value, the safe acceleration for cornering is calculated based on the roundabout radius, and the lateral acceleration allowed for lane keeping is calculated based on the current vehicle speed; the target speed of the adaptive cruise control system is adjusted until the vehicle's current lateral acceleration is less than the minimum of the safe acceleration and the lateral acceleration; If the adjusted target vehicle speed is greater than the current speed limit of the navigation path, the current speed limit of the navigation path will be used as the target speed of the adaptive cruise control system.

6. The assisted driving speed limit control method integrating perception and navigation as claimed in claim 3, characterized in that: When the vehicle reaches the exit of the roundabout and the current road traffic volume is less than the traffic threshold, the next speed limit value of the navigation path is used as the target speed of the adaptive cruise system, and the current speed is controlled to increase to the target speed.

7. An assisted driving speed limit control system integrating perception and navigation, characterized in that: include: The vehicle navigation information acquisition module is configured to: acquire the navigation speed limit information of the vehicle, including: the current speed limit value of the navigation path, and the distance from the navigation path to the next speed limit starting point; The road traffic information acquisition module is configured to: acquire the road traffic information perceived by the vehicle in real time, including: the speed limit value of the road speed limit sign and the distance between the vehicle and the speed limit sign; The current vehicle speed real-time adjustment module is configured to: integrate navigation speed limit information and road traffic information to adjust the current vehicle speed in real time, including: If the distance between the vehicle and the speed limit sign and the distance from the navigation path to the next speed limit starting point are both less than the first distance threshold, and the distance between the vehicle and the speed limit sign is less than the distance from the navigation path to the next speed limit starting point, the speed limit value on the road speed limit sign is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed; otherwise, the current speed limit value on the navigation path is used as the target speed of the adaptive cruise control system, and the current vehicle speed is controlled to drop to the target speed; When the vehicle reaches the speed limit sign on the road, the real-time accumulated mileage of the vehicle is obtained. When the real-time accumulated mileage is greater than the second distance threshold, if the speed limit value on the speed limit sign on the road is not equal to the current speed limit value of the navigation path, the current speed limit value of the navigation path is used as the target speed of the adaptive cruise system.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the assisted driving speed limit control method integrating perception and navigation as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the assisted driving speed limit control method integrating perception and navigation as described in any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the assisted driving speed limit control method integrating perception and navigation as described in any one of claims 1 to 6 are implemented.

Images