Curve vehicle speed control method, device, storage medium and product

Abstract

This application provides a method, device, storage medium, and product for controlling vehicle speed on curves. The method acquires road condition information of a target road segment during vehicle travel. Based on the curvature and slope of the road condition information, it determines the road segment type. Then, based on the road segment type and the road condition information of the target road segment, it determines the corresponding cruise speed threshold and braking speed threshold. The vehicle speed is then controlled on the current road segment based on these thresholds. Therefore, by combining the curvature and slope of the road segment, this application determines the cruise speed threshold and braking speed threshold for the vehicle when turning on a slope. By controlling the turning speed using these determined speed thresholds, the risk of loss of control and collision during turns is reduced, thereby improving vehicle turning safety.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, storage medium and product for controlling vehicle speed on curves. Background Technology

[0002] Predictive cruise control in commercial vehicles can control vehicle speed based on acquired road information.

[0003] Existing vehicle speed control schemes typically control vehicle speed based on curvature information in road data when the vehicle is turning on a slope. For example, decelerating on roads with greater curvature and accelerating on roads with less curvature.

[0004] However, the above-mentioned curvature-based control scheme has the problem of poor turning safety. Summary of the Invention

[0005] This application provides a method, device, storage medium, and product for controlling vehicle speed on curves, in order to solve the problem of poor turning safety when the vehicle is turning on a slope in the existing solution.

[0006] In a first aspect, embodiments of this application provide a method for controlling vehicle speed on curves, including:

[0007] The vehicle acquires road condition information of a target road segment during its journey. The target road segment includes the current road segment and future road segments within a preset distance. The road condition information includes curvature and slope.

[0008] The road segment type of the current road segment is determined based on the curvature of the target road segment. The road segment type includes: curved road segment, pre-curve road segment, and ordinary road segment. The curved road segment is the first road segment with a curvature greater than or equal to a preset curvature. The pre-curve road segment is the second road segment before the first road segment. The ordinary road segment is the road segment other than the curved road segment and the pre-curve road segment.

[0009] Based on the road segment type of the current road segment and the road condition information of the target road segment, determine the cruising speed threshold and braking speed threshold of the current road segment;

[0010] The vehicle speed is controlled on the current road segment based on the cruise speed threshold and the braking speed threshold.

[0011] In one possible implementation, the cruise speed threshold and the braking speed threshold of the ordinary road section are respectively greater than the cruise speed threshold and the braking speed threshold of the road section before entering the curve, and the cruise speed threshold and the braking speed threshold of the road section before entering the curve are respectively greater than the cruise speed threshold and the braking speed threshold of the curved road section.

[0012] Both the cruise speed threshold and the braking speed threshold are negatively correlated with the curvature.

[0013] The cruise speed threshold and the braking speed threshold for uphill sections are respectively greater than the cruise speed threshold and the braking speed threshold for downhill sections.

[0014] In one possible implementation, a target threshold table is determined based on the road segment type of the current road segment, with different target threshold tables corresponding to different road segment types;

[0015] Determine the cruise speed threshold and braking speed threshold corresponding to the road condition information from the target threshold table.

[0016] In another possible implementation, driving data of the vehicle's driver over a historical time period is obtained;

[0017] The driver's reaction time to abnormal road conditions ahead is determined based on the driving data over a historical time period.

[0018] The preset distance is determined based on the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0019] In another possible implementation, a weight for each target road segment is determined based on the distance of each target road segment from the current road segment, wherein the weight is negatively correlated with the distance;

[0020] The curvature of each of the target road segments is weighted and averaged according to the weights of the multiple target road segments to obtain the weighted average curvature;

[0021] The number of target road segments is determined based on the weighted average curvature, where the weighted average curvature is positively correlated with the number.

[0022] In one possible implementation, the required cruising speed of the vehicle on the current road segment is determined based on the user-set target cruising speed and the road condition information of the current road segment.

[0023] When the required cruise speed is greater than or equal to the cruise speed threshold, the required cruise speed is adjusted to the cruise speed threshold.

[0024] The vehicle's current actual speed is controlled according to the required cruising speed.

[0025] When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

[0026] Secondly, embodiments of this application provide a curve speed control device, comprising:

[0027] The acquisition module is used to acquire road condition information of a target road segment during vehicle travel. The target road segment includes the current road segment and future road segments within a preset distance. The road condition information includes curvature and slope.

[0028] The first processing module is used to determine the road segment type of the current road segment based on the curvature of the target road segment. The road segment type includes: curved road segment, pre-curve road segment, and ordinary road segment. The curved road segment is a first road segment with a curvature greater than or equal to a preset curvature. The pre-curve road segment is a second road segment preceding the first road segment. The ordinary road segment is a road segment other than the curved road segment and the pre-curve road segment.

[0029] The second processing module is used to determine the cruising speed threshold and braking speed threshold of the current road segment based on the road segment type of the current road segment and the road condition information of the target road segment.

[0030] The control module is used to control the vehicle speed on the current road segment based on the cruise speed threshold and the braking speed threshold of the current road segment.

[0031] In one possible implementation, the acquisition module is specifically used to ensure that the cruise speed threshold and the braking speed threshold of the ordinary road section are greater than the cruise speed threshold and the braking speed threshold of the road section before entering the curve, and that the cruise speed threshold and the braking speed threshold of the road section before entering the curve are greater than the cruise speed threshold and the braking speed threshold of the curved road section.

[0032] Both the cruise speed threshold and the braking speed threshold are negatively correlated with the curvature.

[0033] The cruise speed threshold and the braking speed threshold for uphill sections are respectively greater than the cruise speed threshold and the braking speed threshold for downhill sections.

[0034] In one possible implementation, the acquisition module is specifically used to determine a target threshold table based on the road segment type of the current road segment, with different target threshold tables corresponding to different road segment types;

[0035] Determine the cruise speed threshold and braking speed threshold corresponding to the road condition information from the target threshold table.

[0036] In one possible implementation, the first processing module is specifically used to acquire driving data of the vehicle's driver over a historical time period.

[0037] The driver's reaction time to abnormal road conditions ahead is determined based on the driving data over a historical time period.

[0038] The preset distance is determined based on the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0039] In one possible implementation, the first processing module is specifically configured to determine the weight of each target road segment based on the distance of each target road segment from the current road segment, wherein the weight is negatively correlated with the distance;

[0040] The curvature of each of the target road segments is weighted and averaged according to the weights of the multiple target road segments to obtain the weighted average curvature;

[0041] The number of target road segments is determined based on the weighted average curvature, where the weighted average curvature is positively correlated with the number.

[0042] In one possible implementation, the control module is specifically used to determine the vehicle's required cruising speed on the current road segment based on the user-set target cruising speed and the road condition information of the current road segment.

[0043] When the required cruise speed is greater than or equal to the cruise speed threshold, the required cruise speed is adjusted to the cruise speed threshold.

[0044] The vehicle's current actual speed is controlled according to the required cruising speed.

[0045] When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

[0046] Thirdly, embodiments of this application provide an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0047] The memory stores computer-executed instructions;

[0048] The processor executes the computer execution instructions stored in the memory to implement the method described above.

[0049] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described above.

[0050] Fifthly, embodiments of this application provide a computer program product, characterized in that it includes a computer program that, when executed by a processor, implements the above-described method.

[0051] The curve speed control method, device, storage medium, and product provided in this application determine the road segment type by acquiring the curvature and slope from road condition information during vehicle travel. Based on the road segment type and the road condition information of the target road segment, the application determines the cruise speed threshold and braking speed threshold corresponding to the current road segment type. The application then controls the vehicle speed on the current road segment based on these thresholds. Therefore, by combining the curvature and slope of the current road segment, this application determines the cruise speed threshold and braking speed threshold for the vehicle when turning on a slope. By controlling the turning speed using these determined speed thresholds, the risk of loss of control and collision during turns is reduced, thereby improving vehicle turning safety. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0053] Figure 1 Flowchart of the curve speed control method provided in this application Figure 1 ;

[0054] Figure 2 Flowchart of the curve speed control method provided in this application Figure 2 ;

[0055] Figure 3 A schematic diagram of the curve speed control device provided in this application;

[0056] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0057] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0060] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0061] Predictive Cruise Control (PCC), a speed control solution based on road traffic information, has been widely used in commercial vehicles.

[0062] The speed control scheme in existing predictive cruise control functions is usually based on the acquired road information such as the curvature of the curve, and dynamically plans the driving speed and gear according to the cruise speed set by the driver, so as to achieve speed control of decelerating before the curve and accelerating after the curve.

[0063] The working process of the existing vehicle speed control scheme is analyzed. When the vehicle is turning, the target speed for turning is determined based on the curvature of the road ahead, and the vehicle is controlled based on the determined target speed. Alternatively, when the vehicle is on a slope, the target speed for going uphill or downhill is determined based on the slope of the road ahead. For example, the speed is reduced when the slope is steep and increased when the slope is gentle.

[0064] However, when vehicles are turning on inclines, existing speed control schemes only control vehicle speed based on the curvature of the curve, without considering the slope information to calculate and predict the cruise speed. This results in excessively high speeds when turning uphill or downhill, potentially leading to loss of control and collisions with other vehicles, thus compromising turning safety. Alternatively, relying solely on slope information to calculate and predict the cruise control speed without considering the speed limits imposed by the curve can also increase driving risks and reduce turning safety. Therefore, existing speed control schemes, when vehicles are turning on inclines, rely solely on road curvature or slope information to control speed, resulting in excessively high speeds and a higher risk of loss of control, leading to poor turning safety.

[0065] In view of this, this application provides a method for controlling vehicle speed on curves. By acquiring the curvature and slope information from road condition data during vehicle travel, the method determines the road segment type of the current road segment. Based on the road segment type and the road condition information of the target road segment, it determines the cruise speed threshold and braking speed threshold corresponding to the current road segment type. The method then controls the vehicle speed on the current road segment based on these thresholds. Therefore, by combining the curvature and slope of the road segment, this application determines the cruise speed threshold and braking speed threshold for the vehicle when turning on a slope. By controlling the vehicle speed during turns using these determined speed thresholds, the risk of loss of control and collisions during slope turns is reduced, thereby improving vehicle turning safety.

[0066] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0067] Figure 1 Flowchart of the curve speed control method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0068] S101. Obtain road condition information of the target road segment during vehicle travel. The target road segment includes the current road segment and future road segments within a preset distance. The road condition information includes curvature and slope.

[0069] Specifically, the current location information is obtained through the vehicle positioning unit. After determining the current road segment based on the current location information, a preset distance is obtained based on the driver's driving data within a historical time period. Then, multiple future road segments within the preset distance are obtained based on the determined current road segment.

[0070] Furthermore, after acquiring the target road segment, including the current road segment and multiple future road segments within a preset distance, the system uses a high-precision map, such as an ADAS (Advanced Driver Assistance Systems) map, to obtain road condition information for each road segment in the current target road segment, including the corresponding curvature and slope.

[0071] S102. Determine the road segment type of the current road segment based on the curvature of the target road segment. The road segment type includes: curved road segment, pre-curve road segment, and ordinary road segment. The curved road segment is the first road segment with a curvature greater than or equal to a preset curvature. The pre-curve road segment is the second road segment before the first road segment. The ordinary road segment is the road segment other than the curved road segment and the pre-curve road segment.

[0072] Specifically, after obtaining the road condition information of the target road segment, the system determines whether the current road segment is a curve based on the curvature of the current road segment's road condition information. That is, if the curvature of the current road segment is greater than or equal to a preset curvature, the current road segment is determined to be a curved road segment. If the curvature of the current road segment is less than the preset curvature, the current road segment is determined to be a road segment before entering a curve, and the system continues to detect whether future road segments are curved road segments until a future road segment is confirmed to be a curved road segment. At this point, the multiple future road segments between the curved road segment and the current road segment are confirmed as ordinary road segments.

[0073] S103. Based on the road segment type of the current road segment and the road condition information of the target road segment, determine the cruising speed threshold and braking speed threshold of the current road segment.

[0074] Specifically, after obtaining the road segment type of the current road segment and the road condition information of each road segment in the target road segment, the corresponding target threshold table is determined according to the road segment type of the current road segment, and the corresponding cruise speed threshold and braking speed threshold are determined in the corresponding target threshold table according to the curvature and slope in the road condition information of the current road segment.

[0075] S104. The vehicle speed is controlled on the current road segment based on the cruise speed threshold and the braking speed threshold of the current road segment.

[0076] Specifically, after obtaining the cruise speed threshold and braking speed threshold of the current road segment, the system obtains the cruise target speed set by the driver, corrects the current cruise demand speed of the vehicle based on the cruise target speed and the cruise speed threshold, so that the vehicle travels based on the corrected cruise demand speed, and performs braking control on the vehicle based on the braking speed threshold to achieve vehicle speed control.

[0077] The curve speed control method provided in this application obtains road condition information of the target road segment during vehicle travel. After determining the road segment type based on the curvature and slope in the road condition information, and then determining the cruise speed threshold and braking speed threshold corresponding to the current road segment type based on the current road segment type and the road condition information of the target road segment, the method controls the vehicle speed on the current road segment. Therefore, this application, by combining the curvature and slope of the road segment to determine the cruise speed threshold and braking speed threshold for the vehicle when turning on a slope, controls the turning speed by using the determined speed thresholds, reducing the risk of loss of control and collision during turns, thereby improving vehicle turning safety.

[0078] Figure 2 Flowchart of the curve speed control method provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment... Figure 1 Based on the embodiments, the method for controlling vehicle speed on curves is described in detail, and the method includes:

[0079] S201 acquires the driving data of the vehicle's driver over a historical time period and determines a preset distance based on the driving data.

[0080] Specifically, multiple emergency braking distances and corresponding braking speeds are obtained from the historical control database. The emergency braking distance is used to indicate the distance the vehicle travels from the start of braking to safely avoiding the obstacle or passing through the curve when the driver discovers an obstacle or curve ahead. The average value of multiple emergency braking distances is obtained as driving data.

[0081] Furthermore, the habitual braking time is calculated based on driving data and the average of multiple braking speeds, serving as the driver's reaction time to abnormal road conditions ahead. A preset distance is then determined based on the reaction time, where the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0082] S202. Obtain road condition information of the target road segment during vehicle travel.

[0083] Specifically, after determining the corresponding preset distance, the current location information of the vehicle is obtained, and the current road segment is determined based on the current location information. Then, multiple road segments within a preset distance, such as two kilometers, are obtained based on the determined current road segment. Through a high-precision map, the curvature and slope of each road segment in the current target road segment are obtained as the road condition information of the corresponding target road segment.

[0084] S203. Determine the weight of each target road segment based on the distance of each target road segment from the current road segment, and determine the number of target road segments based on the weights of multiple target road segments.

[0085] Specifically, after obtaining the traffic information of the target road segment, the weight of each future road segment is determined based on the distance between the future road segment and the current road segment, so as to update the number of future road segments in the target road segment in real time. The weight of each future road segment is negatively correlated with the distance.

[0086] Furthermore, the curvature of each future road segment is weighted and averaged according to the weight of the future road segments in multiple target road segments to obtain the weighted average curvature. The number of future road segments is determined based on the weighted average curvature, such as eighty segments. The weighted average curvature is positively correlated with the number. Each future road segment has the same length distance as the current road segment.

[0087] S204. Determine the road segment type of the current road segment based on the curvature of the target road segment.

[0088] Specifically, after determining the traffic conditions of the current road segment and all future road segments within the target road segment, the road segment type is determined based on the current road segment's traffic conditions. If the curvature in the current road segment's traffic conditions is greater than or equal to a preset curvature, the current road segment type is a curved road segment. If the curvature in the current road segment's traffic conditions is less than a preset curvature, the current road segment type is a pre-curve section.

[0089] Specifically, if the current road segment is a road segment before a curve, the road segment type of future road segments is continuously obtained. If the curvature of multiple future road segments ahead of the current road segment is less than the preset curvature, then the road segment type of multiple future road segments ahead will be set to road segment before a curve.

[0090] Furthermore, if the current road segment is a curved road segment, the current road segment is determined to be an uphill or downhill road segment based on its slope. If the slope of the current road segment is greater than or equal to the preset slope, the current road segment is a curved uphill road segment. If the slope of the current road segment is less than the preset slope, the current road segment is a curved downhill road segment.

[0091] S205. Determine a target threshold table based on the road segment type of the current road segment. Different road segment types correspond to different target threshold tables.

[0092] Specifically, after determining the road segment type based on traffic information, the corresponding target threshold table is determined in the threshold database based on the road segment type. The threshold database pre-stores different road segment types and their corresponding threshold tables.

[0093] Furthermore, based on the road segment type of the current road segment, the same road segment type is retrieved from the threshold database, and the corresponding threshold table is obtained as the target threshold table based on the same road segment type. The target threshold table includes a cruise threshold table and a braking threshold table. The cruise threshold table has a pre-linked and stored correspondence between different road condition information and each cruise speed threshold, and the braking threshold table has a pre-linked and stored correspondence between different road condition information and each braking speed threshold.

[0094] S206. Determine the cruise speed threshold and braking speed threshold corresponding to the road condition information from the target threshold table.

[0095] Specifically, after determining the target threshold table based on the road segment type of the current road segment, the corresponding cruise speed threshold and braking speed threshold are obtained from the cruise threshold table and braking threshold table based on the curvature and slope of the current road segment. Both the cruise speed threshold and braking speed threshold are negatively correlated with the curvature.

[0096] Furthermore, the cruise speed threshold and braking speed threshold for ordinary road sections are greater than those for road sections before entering a curve, and the cruise speed threshold and braking speed threshold for road sections before entering a curve are greater than those for road sections with curves.

[0097] Furthermore, for road sections that are either uphill or downhill curves, the cruise speed threshold and braking speed threshold for uphill sections are greater than those for downhill sections.

[0098] S207. Determine the required cruising speed of the vehicle on the current road segment based on the user-set target cruising speed and the road condition information of the current road segment.

[0099] Specifically, after determining the corresponding cruise speed threshold and braking speed threshold, the target cruise speed set by the driver is obtained. Based on the target cruise speed and the road condition information of the current road segment, the required cruise speed is calculated through a predictive control algorithm. The required cruise speed is used to indicate the predicted maximum cruise speed that the vehicle can reach.

[0100] S208. When the cruise demand speed is greater than or equal to the cruise speed threshold, the cruise demand speed is corrected to the cruise speed threshold, and the current actual speed of the vehicle is controlled according to the cruise demand speed.

[0101] Specifically, after obtaining the cruise speed requirement, the system obtains a first comparison result between the cruise speed requirement and the cruise speed threshold. If the first comparison result indicates that the cruise speed requirement is greater than or equal to the cruise speed threshold, the system updates the cruise speed requirement to the cruise speed threshold and controls the actual speed of the current vehicle based on the updated cruise speed threshold.

[0102] Furthermore, if the first comparison result indicates that the cruise demand speed is less than the cruise speed threshold, the current vehicle speed is controlled directly based on the cruise demand speed at this time.

[0103] S209. When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

[0104] Specifically, after obtaining the required cruise speed, when controlling the actual vehicle speed based on the required cruise speed and the cruise speed threshold, the system continuously obtains a second comparison result between the current actual vehicle speed and the braking speed threshold. If the second comparison result indicates that the current actual vehicle speed is greater than or equal to the braking speed threshold, the system controls the vehicle to brake.

[0105] Furthermore, if the second comparison result indicates that the current actual vehicle speed is less than the braking speed threshold, the vehicle is not braked, and the current actual vehicle speed is maintained based on the first comparison result.

[0106] The curve speed control method provided in this application obtains road condition information of the target road segment during vehicle travel. After determining the road segment type based on the curvature and slope in the road condition information, and then determining the cruise speed threshold and braking speed threshold corresponding to the current road segment type based on the current road segment type and the road condition information of the target road segment, the method controls the vehicle speed on the current road segment. Therefore, this application, by combining the curvature and slope of the road segment to determine the cruise speed threshold and braking speed threshold for the vehicle when turning on a slope, controls the turning speed by using the determined speed thresholds, reducing the risk of loss of control and collision during turns, thereby improving vehicle turning safety.

[0107] Figure 3 This is a schematic diagram of the curve speed control device provided in this application, as shown below. Figure 3 As shown, the device 30 includes:

[0108] The acquisition module 301 is used to acquire road condition information of a target road segment during vehicle travel. The target road segment includes the current road segment and future road segments within a preset distance. The road condition information includes curvature and slope.

[0109] The first processing module 302 is used to determine the road segment type of the current road segment based on the curvature of the target road segment. The road segment type includes: curved road segment, pre-curve road segment, and ordinary road segment. The curved road segment is a first road segment with a curvature greater than or equal to a preset curvature. The pre-curve road segment is a second road segment preceding the first road segment. The ordinary road segment is a road segment other than the curved road segment and the pre-curve road segment.

[0110] The second processing module 303 is used to determine the cruising speed threshold and braking speed threshold of the current road segment based on the road segment type of the current road segment and the road condition information of the target road segment.

[0111] The control module 304 is used to control the vehicle speed on the current road segment based on the cruise speed threshold and the braking speed threshold of the current road segment.

[0112] In one possible implementation, the first processing module 302 sets the cruise speed threshold and the braking speed threshold on the ordinary road section to be greater than the cruise speed threshold and the braking speed threshold on the road section before entering the curve, and the cruise speed threshold and the braking speed threshold on the road section before entering the curve are greater than the cruise speed threshold and the braking speed threshold on the curved road section, respectively.

[0113] Both the cruise speed threshold and the braking speed threshold are negatively correlated with the curvature.

[0114] The cruise speed threshold and the braking speed threshold for uphill sections are respectively greater than the cruise speed threshold and the braking speed threshold for downhill sections.

[0115] In one possible implementation, the first processing module 302 is specifically used to determine a target threshold table based on the road segment type of the current road segment, with different target threshold tables corresponding to different road segment types;

[0116] Determine the cruise speed threshold and braking speed threshold corresponding to the road condition information from the target threshold table.

[0117] In one possible implementation, the second processing module 303 is further configured to acquire driving data of the vehicle's driver over a historical time period.

[0118] The driver's reaction time to abnormal road conditions ahead is determined based on the driving data over a historical time period.

[0119] The preset distance is determined based on the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

[0120] In one possible implementation, the second processing module 303 is further configured to determine the weight of each target road segment based on the distance of each target road segment from the current road segment, wherein the weight is negatively correlated with the distance;

[0121] The curvature of each of the target road segments is weighted and averaged according to the weights of the multiple target road segments to obtain the weighted average curvature;

[0122] The number of target road segments is determined based on the weighted average curvature, where the weighted average curvature is positively correlated with the number.

[0123] In one possible implementation, the control module 304 is specifically used to determine the vehicle's required cruising speed on the current road segment based on the user-set target cruising speed and the road condition information of the current road segment.

[0124] When the required cruise speed is greater than or equal to the cruise speed threshold, the required cruise speed is adjusted to the cruise speed threshold.

[0125] The vehicle's current actual speed is controlled according to the required cruising speed.

[0126] When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

[0127] The road surface adhesion identification device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0128] Figure 4 A schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device 40 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the device 40 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0129] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0130] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0131] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0132] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0133] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0134] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0135] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0136] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0137] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0138] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0139] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0140] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0141] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0142] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0143] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for controlling vehicle speed on curves, characterized in that, include: The vehicle acquires road condition information of a target road segment during its journey. The target road segment includes the current road segment and future road segments within a preset distance. The road condition information includes curvature and slope. The road segment type of the current road segment is determined based on the curvature of the target road segment. The road segment type includes: curved road segment, pre-curve road segment, and ordinary road segment. The curved road segment is the first road segment with a curvature greater than or equal to a preset curvature. The pre-curve road segment is the second road segment before the first road segment. The ordinary road segment is the road segment other than the curved road segment and the pre-curve road segment. Based on the road segment type of the current road segment and the road condition information of the target road segment, determine the cruising speed threshold and braking speed threshold of the current road segment; The vehicle speed is controlled on the current road segment based on the cruise speed threshold and the braking speed threshold.

2. The method according to claim 1, characterized in that, The cruise speed threshold and the braking speed threshold of the ordinary road section are respectively greater than the cruise speed threshold and the braking speed threshold of the road section before entering the curve, and the cruise speed threshold and the braking speed threshold of the road section before entering the curve are respectively greater than the cruise speed threshold and the braking speed threshold of the curved road section. Both the cruise speed threshold and the braking speed threshold are negatively correlated with the curvature. The cruise speed threshold and the braking speed threshold for uphill sections are respectively greater than the cruise speed threshold and the braking speed threshold for downhill sections.

3. The method according to claim 2, characterized in that, The step of determining the cruising speed threshold and braking speed threshold for the current road segment based on the road segment type of the current road segment and the road condition information of the target road segment includes: A target threshold table is determined based on the road segment type of the current road segment, and different target threshold tables correspond to different road segment types; Determine the cruise speed threshold and braking speed threshold corresponding to the road condition information from the target threshold table.

4. The method according to claim 1, characterized in that, The method further includes: Obtain the driving data of the vehicle's driver over a historical time period; The driver's reaction time to abnormal road conditions ahead is determined based on the driving data over a historical time period. The preset distance is determined based on the reaction time, and the preset distance is positively correlated with the reaction time and the current actual vehicle speed.

5. The method according to claim 4, characterized in that, The method further includes: Based on the distance of each target road segment from the current road segment, a weight is determined for each target road segment, and the weight is negatively correlated with the distance. The curvature of each of the target road segments is weighted and averaged according to the weights of the multiple target road segments to obtain the weighted average curvature; The number of target road segments is determined based on the weighted average curvature, where the weighted average curvature is positively correlated with the number.

6. The method according to claim 1, characterized in that, The step of controlling the vehicle speed on the current road segment based on the cruise speed threshold and the braking speed threshold of the current road segment includes: The required cruising speed of the vehicle on the current road segment is determined based on the user-set target cruising speed and the road condition information of the current road segment. When the required cruise speed is greater than or equal to the cruise speed threshold, the required cruise speed is adjusted to the cruise speed threshold. The vehicle's current actual speed is controlled according to the required cruising speed. When the current actual vehicle speed is greater than or equal to the braking speed threshold, the vehicle is braked.

7. A speed control device for cornering, characterized in that, include: The acquisition module is used to acquire road condition information of a target road segment during vehicle travel. The target road segment includes the current road segment and future road segments within a preset distance. The road condition information includes curvature and slope. The first processing module is used to determine the road segment type of the current road segment based on the curvature of the target road segment. The road segment type includes: curved road segment, pre-curve road segment, and ordinary road segment. The curved road segment is a first road segment with a curvature greater than or equal to a preset curvature. The pre-curve road segment is a second road segment preceding the first road segment. The ordinary road segment is a road segment other than the curved road segment and the pre-curve road segment. The second processing module is used to determine the cruising speed threshold and braking speed threshold of the current road segment based on the road segment type of the current road segment and the road condition information of the target road segment. The control module is used to control the vehicle speed on the current road segment based on the cruise speed threshold and the braking speed threshold of the current road segment.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 6.

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