A method and system for assisted driving speed limit control that integrates perception and navigation

Abstract

This invention belongs to the field of assisted driving technology, and particularly relates to an assisted driving speed limit control method and system that integrates perception and navigation. The method includes acquiring the vehicle's navigation speed limit information and road traffic information, and integrating the navigation speed limit information and road traffic information to adjust the current vehicle speed in real time. Specifically, if the distance between the vehicle and the speed limit sign is less than the distance from the navigation path to the next speed limit start point, the speed limit value of the road speed limit sign is used as the target speed of the adaptive cruise control system; otherwise, the current speed limit value of the navigation path is used as the target speed of the adaptive cruise control system. This invention utilizes a perception system to perceive road traffic speed limit information in real time during vehicle operation and integrates it with navigation speed limit data provided by the in-vehicle navigation system to obtain the correct speed limit value for the current road, thus enhancing the user's demand for intelligent driving.

Description

Technical Field

[0001] This invention belongs to the field of driver assistance technology, and in particular relates to a speed limit control method and system for driver assistance that integrates perception and navigation. Background Technology

[0002] The statements in this section are merely 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 applied in the field of intelligent driving. Advanced Driving Assistance Systems (ADAS) have become ubiquitous in the automotive industry, improving driving comfort.

[0004] Currently, mainstream advanced driver assistance systems typically include Automatic Adaptive Cruise Control (ACC), Lane Support System (LSS), and Speed ​​Limit Assist (SLA). If the driver activates an advanced driver assistance function, the vehicle can maintain its speed within the lane.

[0005] However, due to the complex and ever-changing road conditions, existing ADAS systems require drivers to constantly observe the current speed limit information and vehicle conditions to manually adjust the vehicle speed, resulting in a low level of intelligence in the driver assistance system. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a method, system, electronic device, computer-readable storage medium, and computer program product for assisted driving speed limit control that integrates perception and navigation. During vehicle operation, the perception system detects road traffic speed limit information in real time and merges it with navigation speed limit data provided by the in-vehicle navigation system to obtain the correct speed limit value for the current road. This is a control strategy that balances safety, convenience, and comfort, further enhancing users' needs 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 that integrates perception and navigation;

[0009] A speed limit control method for assisted driving that integrates perception and navigation includes:

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

[0011] Obtain real-time road traffic information perceived by the vehicle, including: speed limit values ​​of road speed limit signs and the distance between the vehicle and the speed limit sign;

[0012] The system integrates 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, as well as the distance from the navigation route to the next speed limit start 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 route to the next speed limit start point, then the speed limit value of the road speed limit sign will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed; otherwise, the current speed limit value of the navigation route will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed.

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

[0015] Secondly, the present invention provides an assisted driving speed limit control system that integrates perception and navigation;

[0016] A speed limit control system for assisted driving that integrates perception and navigation includes:

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

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

[0019] The real-time vehicle speed 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, as well as the distance from the navigation route to the next speed limit start 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 route to the next speed limit start point, then the speed limit value of the road speed limit sign will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed; otherwise, the current speed limit value of the navigation route will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed.

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

[0022] Thirdly, 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-described assisted driving speed limit control method integrating perception and navigation.

[0024] Fourthly, the present invention provides a computer-readable storage medium;

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

[0026] Fifthly, the present invention provides a computer program product;

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

[0028] The above one or more technical solutions have the following beneficial effects:

[0029] (1) This invention integrates the perceived road speed limit and the map speed limit information provided by navigation to obtain the correct speed limit value of the current road, and can obtain the distance of 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 road speed limits and map speed limit information provided by navigation, this invention can further reduce the vehicle speed according to the traffic flow to ensure driving safety. When the vehicle exits the roundabout, if the traffic flow is low, the vehicle speed can be controlled to safely and comfortably increase to the upper speed limit, improving the assisted driving experience.

[0031] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0032] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] Figure 1 This is a flowchart of the method in the first embodiment.

[0034] Figure 2 This is a schematic diagram of the roundabout in the first embodiment.

[0035] Figure 3 This is a system structure diagram of the second embodiment. Detailed Implementation

[0036] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0037] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0039] Example 1

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

[0041] Step 1: Obtain the navigation speed limit information provided by the in-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 start point; adjust the current vehicle speed in real time according to the navigation speed limit information;

[0042] Step 2: Obtain real-time road traffic information perceived by the perception system, 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 one implementation method, step 1 involves adjusting the current vehicle speed in real time based on 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), and the road speed limit is determined to be V(navi_limit0). The adaptive cruise control (ACC) system must adjust the target speed limit to not exceed V(navi_limit0).

[0046] In one implementation method, step 2 mainly utilizes a camera installed under the windshield to dynamically capture road images in front of the vehicle. After processing, the road images obtain structured information, namely road traffic information, which is provided to the decision-making center.

[0047] As one implementation method, step 3 involves integrating navigation speed limit information and road traffic information to adjust the current vehicle speed in real time, including:

[0048] (1) If the distance S(sign) between the vehicle and the speed limit sign and the distance S(limit1) from the navigation path to the next speed limit starting point are both less than the first distance threshold (set to 70m in this embodiment), and the distance S(sign) between the vehicle and 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) of 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 decrease to the target speed; otherwise, the current speed limit value V(navi_limit0) of 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 decrease to the target speed.

[0049] (2) When the vehicle reaches the road speed limit sign, the real-time cumulative mileage of the vehicle is obtained. When the real-time cumulative mileage is greater than the second distance threshold S (hold_distance), if the speed limit value V (vision_limit0) of 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 (ACC) system.

[0050] For example: When the camera captures the vehicle passing a road speed limit sign, and the adaptive cruise control (ACC) adjusts the target speed limit to not exceed V(vision_limit0), it begins real-time mileage accumulation. If the real-time accumulated mileage exceeds S(hold_distance), and V(vision_limit0) ≠ V(navi_limit0), the adaptive cruise control (ACC) target speed limit is adjusted to not exceed V(navi_limit0). The distance between the vehicle and the speed limit sign can be preset, such as the vehicle passing the sign head-on or the distance between the vehicle's head and the speed limit sign being X meters.

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

[0052] Step 5: Adjust the current vehicle speed in real time based on navigation route 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 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. The type Type (node) of the navigation path to the next road node is traffic light, road intersection, ramp entrance / exit or roundabout.

[0054] (1) If all the above conditions are met, the current vehicle speed V(vehicle) is adjusted according to the first ratio 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] During the process of adjusting the current vehicle speed according to the first ratio value, if step 3 is performed (i.e., the current vehicle speed is adjusted in real time by integrating navigation speed limit information and road traffic information), the minimum value among the current speed limit value of the navigation route, the speed limit value of the road speed limit sign, and the target vehicle speed {V(vision_limit0),V(navi_limit0),V(vehicle)*0.7} adjusted according to the first ratio value is used as the target vehicle speed of the adaptive cruise system.

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

[0057] For example, in this embodiment, the first vehicle speed threshold is set to 40 km / h, the third distance threshold is set to 40 m, the first ratio value is set to 0.7, the second ratio value is set to 0.6, and the flow rate threshold is set to 50%. The threshold settings can be calibrated as needed. Specifically, assuming 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 through the road, the traffic flow F is considered to be 100%. The set flow rate threshold of 50% can be understood as having a large number of road participants and a utilization rate of 50%. This coefficient can be calculated by the number of vehicles identified by the camera, the distance, and the lane width, or it can be converted by information provided by online navigation maps.

[0058] As one implementation method, it further includes: when the vehicle enters the roundabout at position C, with the steering wheel angle A (steering) > 30° (adjustable by calibration), the maximum safe acceleration Aymax (safe) for cornering is calculated using the lane radius R (curve). If the lane assist system is activated, the maximum permissible lateral acceleration Aymax (LSS) for lane keeping is calculated from the current vehicle speed V (vehicle). The adaptive cruise control (ACC) system then reduces the current vehicle speed to the target speed until the vehicle's lateral acceleration Ay (rt) is less than the smaller of {Aymax (safe)} and Aymax (LSS)}. The target speed is preset based on actual conditions. If the vehicle speed is still greater than the roundabout speed limit V (navi_limit0), the adaptive cruise control (ACC) system reduces the target speed to V (vision_limit0) at a maximum comfort deceleration not exceeding the specified limit.

[0059] As one implementation method, it also includes: when the vehicle reaches the roundabout exit position and the current road traffic flow is less than the traffic flow threshold, the 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.

[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° (adjustable by calibration), and the traffic flow F is less than 50%, the adaptive cruise control (ACC) system will increase the current speed to the target speed, where the next speed limit on the navigation path is used as the target speed for the adaptive cruise control system. It will increase the speed to the next speed limit V (navi_limit1) on the navigation path by not exceeding the maximum comfort acceleration specified.

[0061] As one implementation method, before making real-time adjustments to the current vehicle speed, the method further includes determining whether the following preconditions are met:

[0062] The driver activates the vehicle's driver assistance functions, including Lane Assist (LSS), Adaptive Cruise Control (ACC), Speed ​​Limit Assist (SLA), and Speed ​​Limit Control (SCF); and the navigation and positioning are normal, with valid map information.

[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 vehicle navigation system and the road traffic information perceived in real time by the perception system.

[0064] As one implementation method, it also includes: adjusting the current vehicle speed in real time based on navigation speed limit information, including:

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

[0066] Example 2

[0067] like Figure 3 As shown, this embodiment discloses a speed limit control system for assisted driving that integrates 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 starting point of the next speed limit;

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

[0070] The real-time vehicle speed 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, as well as the distance from the navigation route to the next speed limit start 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 route to the next speed limit start point, then the speed limit value of the road speed limit sign will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed; otherwise, the current speed limit value of the navigation route will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed.

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

[0073] 1. The in-vehicle navigation system provides drivers with route planning and traffic information services based on in-vehicle GPS (Global Positioning System) and electronic maps. The electronic maps store road speed limits and starting locations.

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

[0075] (1) Navigate to the current road speed limit V(navi_limit0).

[0076] (2) The next speed limit V (navi_limit1) in 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 the navigation path to the next road node: Type(node).

[0080] (6) Current traffic flow F.

[0081] 2. The perception system includes millimeter-wave radar, cameras, ultrasonic probes, etc. The millimeter-wave radar is located at the center of the front of the vehicle and the four corners of the vehicle body, the cameras are located at the center of the windshield and around the vehicle body, and the ultrasonic probes are located at the front and rear bumpers of the vehicle. They are responsible for perceiving and identifying information such as environmental road conditions, other traffic participants, and obstacles. When the system is running, the intelligent driving sensors send this environmental and target data to the driver assistance controller.

[0082] 3. Motion execution mechanism

[0083] The motion actuator consists of various electronic and mechanical units that control the lateral and longitudinal movements of the vehicle, including: Electronic Stability Control (ESC), Electronic Power Steering (EPS), Engine Control Unit (ECU), Transmission Control Unit (TCU), Vehicle Control Unit (VCU), Inertial Measurement Unit (IMU), etc.

[0084] The actuator can receive vehicle control commands from the upper-level driver assistance system, such as acceleration requests, braking requests, and steering wheel angle requests. The actuator responds to these requests and can also send the vehicle's motion information to the bus to complete the lateral and longitudinal motion control of the vehicle by the human or driver assistance system.

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

[0086] 4. In-vehicle infotainment system

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

[0088] 5. Advanced driver assistance system

[0089] Advanced driving assistance systems (ADAS) are the decision-making center of advanced driver assistance systems. They receive and process target and environmental information from sensors, combine it with vehicle motion information from the bus, and driver intentions to perform various driver assistance functions. The driver assistance functions involved in this invention include: Lane Assist System (LSS), Adaptive Cruise Control (ACC), Speed ​​Limit Assist System (SLA), and Speed ​​Limit Control System (SCF). The Speed ​​Limit Control System controls vehicle speed by fusing perceived road speed limit data and navigation data, thus contributing to safe driving and comfortable vehicle control.

[0090] This invention utilizes a Speed ​​Limit Control (SCF) system, which, based on Adaptive Cruise Control (ACC) controlling longitudinal vehicle movement and Lane Assist System (LSS) controlling lateral movement, integrates a Speed ​​Limit Assist (SLA) system with camera-sensed speed limits and navigation-provided map speed limit information to obtain the correct speed limit for the current road. It also acquires real-time distances to traffic nodes and appropriately reduces speed to ensure driving safety when approaching intersections, traffic lights, roundabouts, and ramp entrances / exits. The speed can be further reduced based on traffic volume to ensure safety. When exiting a roundabout, if traffic is light, the speed can be safely and comfortably increased to the maximum speed limit, enhancing 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 content disclosed in Embodiment 1. It should also 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] Example 3

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

[0094] Example 4

[0095] Embodiment 4 of the present invention provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, complete the steps of the aforementioned assisted driving speed limit control method integrating perception and navigation.

[0096] Example 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-described assisted driving speed limit control method that integrates perception and navigation.

[0098] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment, whereby a series of operational steps are performed to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0101] The descriptions of each embodiment in the above embodiments have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A speed limit control method for assisted driving that integrates perception and navigation, characterized in that, include: Obtain the vehicle's navigation speed limit information, including: the current speed limit value of the navigation route and the distance from the navigation route to the starting point of the next speed limit; Obtain real-time road traffic information perceived by the vehicle, including: speed limit values ​​of road speed limit signs and the distance between the vehicle and the speed limit sign; The system integrates 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, as well as the distance from the navigation route to the next speed limit start 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 route to the next speed limit start point, then the speed limit value of the road speed limit sign will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed; otherwise, the current speed limit value of the navigation route will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed. When the vehicle reaches the road speed limit sign, the real-time cumulative mileage of the vehicle is obtained. If the real-time cumulative mileage is greater than the second distance threshold, and the speed limit value of the road speed limit sign is not equal to the current speed limit value of the navigation route, then the current speed limit value of the navigation route is used as the target speed of the adaptive cruise system.

2. The assisted driving speed limit control method integrating perception and navigation as described in claim 1, characterized in that, The system utilizes a perception system to perceive road traffic information in real time. The perception system includes a camera installed at the center of the windshield, which is used to capture images of the road in front of the vehicle.

3. The assisted driving speed limit control method integrating perception and navigation as described in claim 1, characterized in that, It also includes obtaining the vehicle's navigation route information, including: the next speed limit value of the navigation route, the distance from the navigation route to the next road node, the type of the navigation route to the next road node, and the current road traffic flow; The vehicle speed is adjusted in real time based on navigation route 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 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. The type of the navigation path to the next road node is traffic light, road intersection, ramp entrance / exit, or roundabout. If all the above conditions are met, the current vehicle speed is adjusted according to the first ratio value, and the adjusted current vehicle speed is used as the target vehicle speed of the adaptive cruise system. During the process of adjusting the current vehicle speed according to the first ratio value, if the navigation speed limit information and road traffic information are integrated to adjust the current vehicle speed in real time, the minimum value among the current speed limit value of the navigation route, the speed limit value of the road speed limit sign, and the target vehicle speed after adjustment according to the first ratio value will be used as the target vehicle speed of the adaptive cruise system.

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

5. The assisted driving speed limit control method integrating perception and navigation as described in claim 3, characterized in that, When the vehicle enters the roundabout 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 lane-keeping allowable lateral acceleration 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 speed is greater than the current speed limit of the navigation route, then the current speed limit of the navigation route 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 described in claim 3, characterized in that, When the vehicle reaches the roundabout exit and the current traffic flow is less than the traffic flow threshold, the speed limit value of the navigation route will be used as the target speed for the adaptive cruise control system, and the current speed will be increased to the target speed.

7. A speed limit control system for assisted driving that integrates perception and navigation, characterized in that, include: The vehicle navigation information acquisition module is configured to acquire the vehicle's navigation speed limit information, including: the current speed limit value of the navigation route and the distance from the navigation route to the starting point of the next speed limit. The road traffic information acquisition module is configured to acquire real-time road traffic information perceived by the vehicle, including: the speed limit value of the road speed limit sign and the distance between the vehicle and the speed limit sign; The real-time vehicle speed 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, as well as the distance from the navigation route to the next speed limit start 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 route to the next speed limit start point, then the speed limit value of the road speed limit sign will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed; otherwise, the current speed limit value of the navigation route will be used as the target speed for the adaptive cruise control system, and the current vehicle speed will be reduced to the target speed. When the vehicle reaches the road speed limit sign, the real-time cumulative mileage of the vehicle is obtained. If the real-time cumulative mileage is greater than the second distance threshold, and the speed limit value of the road speed limit sign is not equal to the current speed limit value of the navigation route, then the current speed limit value of the navigation route 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 that integrates perception and navigation as described in any one of claims 1-6.

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

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

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