Vehicle speed control method and related device

Abstract

The embodiment of the invention discloses a vehicle speed control method, which comprises the following steps: in response to a vehicle entering an automatic cruise mode, obtaining a first driving speed of the vehicle and a road speed limit of a current road on which the vehicle is driven; acquiring a second driving speed of a traffic flow within a first preset distance in front of the vehicle on the current road and a traffic flow length of the traffic flow; in response to determining that the second driving speed is smaller than the road limit speed and the first driving speed and the traffic flow length is larger than the length threshold value, determining that the current road is in a congestion state; in response to determining that the current road is in the congested state, controlling the vehicle to run at a third running speed; the third driving speed is smaller than the second driving speed. By means of the method, the vehicle can adjust the running speed according to the road speed limit, the running speed of the vehicle can be further corrected according to the running speed of the front traffic flow and the traffic flow length, and therefore the road speed limit and the actual road condition are both considered, and the running safety of the vehicle in the automatic cruise mode is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle speed control method and related devices. Background Art

[0002] With the development of vehicle technology, vehicles are becoming more and more intelligent. Many vehicles are equipped with intelligent speed assistance systems, which allow the vehicle to automatically adjust the vehicle's speed in automatic cruise mode without the need for manual control by the driver. The automatic cruise mode is to identify the traffic speed limit signs on the road, use the road speed limit as the vehicle's target speed limit, and limit the speed when the vehicle exceeds the speed limit and alarm the driver to return the vehicle to below the speed limit.

[0003] However, since the actual road conditions are not ideal, their complexity may cause the intelligent speed assistance system to make misjudgments, thus affecting the safety of vehicle driving. For example, when the road ahead of the vehicle is congested, the intelligent speed assistance system of the vehicle still drives at the maximum speed of the speed limit assistance, and the driver does not know the road congestion information, which may cause the vehicle to be unable to brake quickly due to excessive speed, resulting in rear-end collision, reducing the safety of vehicle driving. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a vehicle speed control method and related devices, which adjust the vehicle speed by combining real-time road conditions and road speed limits, thereby improving the vehicle's driving safety.

[0005] The embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, an embodiment of the present application discloses a vehicle speed control method, the method comprising:

[0007] In response to the vehicle entering an automatic cruise mode, obtaining a first driving speed of the vehicle and a road speed limit of a current road on which the vehicle is traveling;

[0008] Acquire a second driving speed of a traffic flow within a first preset distance in front of the vehicle on the current road and a traffic flow length of the traffic flow;

[0009] In response to determining that the second driving speed is less than the road speed limit and the first driving speed, and the traffic flow length is greater than a length threshold, determining that the current road is in a congested state;

[0010] In response to determining that the current road is in a congested state, the vehicle is controlled to travel at a third travel speed; the third travel speed is lower than the second travel speed.

[0011] Optionally, the length threshold is obtained based on a preset corresponding relationship, which is a corresponding relationship between a plurality of preset speed differences and a plurality of traffic flow lengths, and the speed difference is a speed difference between the road speed limit and the second driving speed.

[0012] Optionally, the method further includes:

[0013] In response to the vehicle not obtaining the road speed limit of the current road on which the vehicle is traveling within a preset time and determining that the current road is in a congested state, the vehicle is controlled to travel at a fourth driving speed; the fourth driving speed is lower than the third driving speed.

[0014] Optionally, the method further includes:

[0015] When the vehicle is traveling in the traffic flow, obtaining a fifth traveling speed of a target vehicle at a second preset distance ahead of the vehicle on the current road;

[0016] In response to determining that the fifth driving speed is greater than the road speed limit, the vehicle is controlled to travel at a sixth driving speed that is less than the road speed limit.

[0017] Optionally, the method further includes:

[0018] Obtaining a rainfall value when the vehicle is traveling;

[0019] Determining a rainy day speed limit for the vehicle traveling on the current road according to the rainfall value and the road condition information of the current road;

[0020] The vehicle is controlled to travel according to the rainy day speed limit.

[0021] Optionally, the method further includes:

[0022] In response to determining that the road speed limit is less than the rainy speed limit, the vehicle is controlled to travel according to the road speed limit.

[0023] Optionally, the method further includes:

[0024] Obtaining the accelerator pedal opening of the vehicle;

[0025] When the accelerator pedal opening is greater than a preset opening, the vehicle is controlled to travel at a travel speed corresponding to the accelerator pedal opening.

[0026] In a second aspect, an embodiment of the present application discloses a vehicle speed control device, the device comprising:

[0027] A first acquisition unit, configured to acquire a road speed limit of a current road on which the vehicle is traveling in response to the vehicle entering an automatic cruise mode;

[0028] A second acquisition unit is used to acquire a second driving speed of a traffic flow within a first preset distance in front of the vehicle on the current road and a traffic flow length of the traffic flow;

[0029] a road state determination unit, configured to determine that the current road is in a congested state in response to determining that the second driving speed is less than the road speed limit and the traffic flow length is greater than a length threshold;

[0030] The first vehicle speed control unit is used to control the vehicle to travel at a third travel speed in response to determining that the current road is in a congested state; the third travel speed is lower than the second travel speed.

[0031] Optionally, the length threshold is obtained based on a preset corresponding relationship, which is a corresponding relationship between a plurality of preset speed differences and a plurality of traffic flow lengths, and the speed difference is a speed difference between the road speed limit and the second driving speed.

[0032] Optionally, the device further comprises:

[0033] The second vehicle speed control unit is used to control the vehicle to travel at a fourth driving speed in response to the vehicle failing to obtain the road speed limit of the current road on which the vehicle is traveling within a preset time and determining that the current road is in a congested state; the fourth driving speed is lower than the third driving speed.

[0034] Optionally, the device further comprises:

[0035] a third acquisition unit, configured to acquire, when the vehicle is traveling in the traffic flow, a fifth driving speed of a target vehicle at a second preset distance ahead of the vehicle on the current road;

[0036] The third vehicle speed control unit is used for controlling the vehicle to travel at a sixth driving speed less than the road speed limit in response to determining that the fifth driving speed is greater than the road speed limit.

[0037] Optionally, the device further comprises:

[0038] A fourth acquisition unit, used to acquire a rainfall value when the vehicle is traveling;

[0039] A rainy day speed limit determination unit, used to determine the rainy day speed limit for the vehicle traveling on the current road according to the rainfall value and the road condition information of the current road;

[0040] The fourth vehicle speed control unit is used to control the vehicle to travel according to the rainy day speed limit.

[0041] Optionally, the device further comprises:

[0042] A fifth vehicle speed control unit is used to control the vehicle to travel according to the road speed limit in response to determining that the road speed limit is less than the rainy day speed limit.

[0043] Optionally, the device further comprises:

[0044] a fifth acquisition unit, configured to acquire an accelerator pedal opening of the vehicle;

[0045] The sixth vehicle speed control unit is used to control the vehicle to travel at a travel speed corresponding to the accelerator pedal opening when the accelerator pedal opening is greater than a preset opening.

[0046] In a third aspect, an embodiment of the present application discloses a computer device, wherein the computer device includes a processor and a memory:

[0047] The memory is used to store program code and transmit the program code to the processor;

[0048] The processor is used to execute the vehicle speed control method as described in the first aspect and any optional option of the first aspect according to the instructions in the program code.

[0049] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, it is used to execute the vehicle speed control method as described in the first aspect and any optional option of the first aspect.

[0050] It can be seen from the above technical solution that, in response to the vehicle entering the automatic cruise mode, the first driving speed of the vehicle and the road speed limit of the current road on which the vehicle is traveling are obtained; the second driving speed of the traffic flow within a first preset distance in front of the vehicle on the current road and the traffic flow length of the traffic flow are obtained; in response to determining that the second driving speed is less than the road speed limit and the first driving speed, and the traffic flow length is greater than the length threshold, it is determined that the current road is in a congested state; in response to determining that the current road is in a congested state, the vehicle is controlled to travel at a third driving speed; the third driving speed is less than the second driving speed, so that the vehicle can not only adjust the driving speed according to the road speed limit, but also can further correct the driving speed of the vehicle according to the driving speed and traffic flow length of the traffic flow ahead, thereby taking into account the road speed limit and the actual road conditions, and improving the driving safety of the vehicle in the automatic cruise mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A flow chart of a vehicle speed control method provided in an embodiment of the present application;

[0053] Figure 2 A structural block diagram of a vehicle speed control device provided in an embodiment of the present application;

[0054] Figure 3 A structural block diagram of a computer device for vehicle speed control provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0056] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances. This is just a way of distinguishing objects with the same attributes when describing the embodiments of this application.

[0057] As the level of vehicle intelligence improves, autonomous driving technology is gradually moving from the laboratory to the actual vehicle testing and verification stage. At present, many vehicles are equipped with intelligent speed assistance systems, which enable the driver to automatically adjust the vehicle's speed based on the automatic cruise mode without having to manually control the vehicle in real time, so that the vehicle can be driven in a way that simulates human control. The principle of the automatic cruise mode is to obtain the speed limit of the current road, use the road speed limit as the vehicle's target speed limit, and control the vehicle's speed and alarm when the vehicle's speed exceeds the speed limit.

[0058] Although this function can prevent and control vehicle speeding to a certain extent in good and smooth road conditions, the actual road conditions are often complex and changeable, which results in the automatic cruise mode being unable to meet the user's speed limit requirements in many cases. For example, when a vehicle is driving on the road at the maximum speed specified in the speed limit mode of the automatic cruise mode, once congestion occurs on the road ahead, and the driver and the intelligent vehicle speed assistance system are not informed of this information, causing the vehicle to continue to move forward at a considerable speed, it is possible that a rear-end collision or other traffic accidents may occur due to excessive speed, seriously affecting the safety of vehicle driving.

[0059] In order to solve the above technical problems, the embodiments of the present application provide a vehicle speed control method and related devices, which adjust the vehicle's driving speed in real time by combining real-time road condition information and road speed limit information, thereby improving the vehicle's driving safety.

[0060] See also Figure 1 , Figure 1 A flow chart of a vehicle speed control method provided in an embodiment of the present application. It is understandable that the method can be applied to an electronic control unit (ECU) of a vehicle or other control unit with computing capabilities, and then send a control signal to a motor controller via a communication bus such as a controller area network (CAN), and then control the drive motor and the transmission system through the motor controller to control the vehicle's driving speed. The method includes S101-S104:

[0061] S101: In response to a vehicle entering an automatic cruise mode, obtaining a first driving speed of the vehicle and a road speed limit of a current road on which the vehicle is traveling.

[0062] The first driving speed of the vehicle can be obtained by collecting dynamic parameters of the vehicle through wheel speed sensors or vehicle speed sensors, and then calculating the first driving speed of the vehicle based on the dynamic parameters. In addition, the speed limit of the current road can be obtained by taking a photo of the speed limit sign of the current road through a driving recorder or a vehicle camera, or by querying relevant information of the current road through map software or other methods on the Internet through vehicle-computer networking, thereby obtaining the speed limit of the current road.

[0063] S102: Obtain a second driving speed and a traffic length of a traffic flow within a first preset distance in front of the vehicle on the current road.

[0064] In some possible implementations, the vehicle can collect real-time traffic information through the vehicle control unit (VCU) through the on-board high-precision map, and comprehensively process the acquired information such as vehicle speed, average traffic speed and traffic length. For example, the maximum speed limit of the vehicle can be adjusted according to the road conditions, and then the vehicle speed can be adjusted in real time according to the maximum speed limit of the vehicle.

[0065] For example, the effective road speed limit value V of the current road can be captured by the camera Road At this time, if the current road conditions usually allow the vehicle to travel normally, the vehicle's head unit can collect traffic information within a first preset distance based on navigation information and cloud big data, where the first preset distance can be calibrated to 1 kilometer or other distances. Taking 1 kilometer as an example, the second driving speed of the traffic within 1 kilometer ahead collected by the head unit is V Car , the length of the traffic flow is L Car .

[0066] S103: In response to determining that the second driving speed is less than the road speed limit and the first driving speed, and the traffic length is greater than a length threshold, determining that the current road is in a congested state.

[0067] Taking the aforementioned calibrated 1-kilometer information collection as an example, if the traffic speed of the road ahead is lower than the vehicle speed, and the traffic speed of the road ahead is lower than the speed limit of the current road, and the length of the traffic on the road ahead exceeds a certain threshold, then the traffic on the road ahead is determined to be congested, and then the current road is determined to be in a congested state.

[0068] In order to make the determination of congested roads more scientific and effective, the two variables of traffic flow length and traffic flow speed can be associated for determination, rather than being determined independently. Based on the above embodiment, further, the length threshold is obtained according to a preset corresponding relationship, which is a corresponding relationship between a plurality of preset speed differences and a plurality of traffic flow lengths, and the speed difference is the speed difference between the road speed limit and the second driving speed.

[0069] In some possible implementations, when determining whether a road is in a congested state, it is necessary to determine the difference between the speed of the traffic on the road ahead and the speed of the current vehicle. If this speed difference exceeds a certain threshold, the congested state can be determined. This threshold can also be related to the current vehicle's driving speed. The higher the current vehicle's driving speed, the higher this threshold. For example, if the current vehicle's driving speed is 80km / h, the threshold can be set to 20km / h, that is, the driving speed of the traffic on the road ahead is less than 60km / h; if the current vehicle's driving speed is 30km / h, the threshold can be set to 10km / h, that is, the driving speed of the traffic on the road ahead is less than 20km / h.

[0070] At this time, the setting of the length threshold and the determination of the relationship between the length of the traffic flow and the length threshold can also be the same as the determination of the speed relationship. Specifically, the length threshold can also be positively correlated with the current vehicle's speed. For example, if the current vehicle's speed is 100km / h, the length threshold is 1000m, that is, the traffic length must exceed 1000m to be considered congested; and when the current vehicle's speed is 50km, the length threshold is set to 500m, that is, the traffic length exceeds 500m and is considered congested.

[0071] S104: In response to determining that the current road is in a congested state, controlling the vehicle to travel at a third driving speed; the third driving speed is lower than the second driving speed.

[0072] When controlling the vehicle's speed, it can be divided into two situations:

[0073] When V Car >V Road When it is determined that the road ahead is not congested, the intelligent vehicle speed assistance system in the vehicle can still use the V captured by the camera or other means. Road Intelligent speed limit and overspeed alarm for vehicles;

[0074] When V Car <V Road When the road ahead is judged to be congested, the intelligent speed assistance system in the vehicle can adjust the speed limit V displayed on the instrument panel. Road The current speed V of the congested traffic is displayed next to it. Car , and at the same time when the vehicle's real-time speed exceeds V Car When the V is on, the icon at the corresponding position of the instrument flashes to remind the driver that the current speed is too high and there may be a risk of rear-end collision; if the driver turns on the intelligent overspeed alarm and intelligent speed limit functions at the same time, the system will Car , actively intervene in the vehicle speed and control the actual vehicle speed within V Car The following improves the safety of vehicle driving at the driving speed level.

[0075] If there is no speed limit sign on the current road, or there is no speed limit information on the current road on the network or other information platforms, and the vehicle cannot query the speed limit of the current road, based on the above embodiment, the method further includes:

[0076] In response to the vehicle not obtaining the road speed limit of the current road on which the vehicle is traveling within a preset time and determining that the current road is in a congested state, the vehicle is controlled to travel at a fourth driving speed.

[0077] The fourth driving speed is lower than the third driving speed. Taking the above-mentioned 1 km calibration information collection as an example, if it is determined that the road ahead 1 km is congested, and the driving speed of the traffic flow is V Car When the vehicle is in a state of motion, the VCU will control the vehicle's drive system and power transmission system to limit the vehicle's speed to V Car Below, speeding alarm can also be issued to inform the driver at the same time.

[0078] When the vehicle is traveling in a congested traffic flow, in order to determine that the vehicle is about to exit the congested road section and to improve the sensitivity of the vehicle to determine the condition of the road section ahead, based on the above embodiment, the method further includes:

[0079] When the vehicle is traveling in a traffic flow, obtaining a fifth traveling speed of a target vehicle at a second preset distance ahead of the vehicle on the current road;

[0080] In response to determining that the fifth driving speed is greater than the road speed limit, the vehicle is controlled to travel at a sixth driving speed, the sixth driving speed being less than the road speed limit.

[0081] When a vehicle leaves a road section determined to be congested, the intelligent speed assistance system should cancel the previous safety speed limit and adjust the safety speed limit to the road speed limit to avoid interfering with the normal driving of the vehicle, thereby improving the vehicle's drivability.

[0082] In some possible implementations, if the vehicle flow speed V in the currently identified congested state is Car And in the case of V Car When the vehicle is in the overspeed alarm or intelligent speed limit state, the system determines through the navigation system or cloud big data platform that the vehicle is about to exit the congested traffic flow, that is, the congestion beyond the second preset distance ahead disappears, and the system does not need to display V on the instrument panel. Car Related icons, not for V Car The system can also intelligently limit the speed of the vehicle and warn of speeding. At the same time, the system can also remind users through the instrument panel that "the traffic jam ahead has disappeared", avoiding the vehicle from accelerating unexpectedly and improving the driving comfort of the vehicle.

[0083] Among them, similar to the first preset distance, the second preset distance can also be pre-calibrated. For example, when driving on a certain road, the second preset distance can be calibrated to 50m to determine whether the vehicle is about to exit congested traffic and congested road sections.

[0084] In some other possible implementations, when the vehicle's safe speed limit is adjusted, such as adjusting the safe speed limit from the traffic speed to the road speed limit, the system should inform the driver of the change in the speed limit function through instrument panel display or voice broadcast.

[0085] However, when the vehicle is driving on a slippery road caused by rain, snow and other weather conditions, the intelligent speed assistance system still controls the vehicle's speed according to the obtained road speed limit, which may cause the vehicle to skid, drift or even roll over due to excessive speed, thus affecting the safety of the vehicle's driving.

[0086] To further solve this technical problem, based on the above embodiment, the method further includes:

[0087] Get the rainfall value when the vehicle is driving;

[0088] Determine the rainy day speed limit for vehicles on the current road based on the rainfall value and the current road condition information;

[0089] Control vehicles to follow the speed limit in rainy days.

[0090] When there is rain or snow, the vehicle can use the rainfall amount R fed back by the rain sensor and the empirical driving speed V under the current weather conditions to calculate the driving speed. Rmd Comprehensively calculate the rainy day speed limit V Rain , and adjust the current maximum vehicle speed limit according to the rainy day speed limit.

[0091] In some possible implementations, V Rmd It may be a driving speed recommended by an authority such as the Ministry of Transport based on an experience database and the like under current weather conditions.

[0092] When the vehicle is controlled to drive according to the speed limit in rainy days, it can be judged according to the following conditions:

[0093] If the currently identified effective road speed limit V Road >V Rain , that is, the calculated rainy day speed limit is less than the current road speed limit, the system will be based on the rainy day speed limit V Rain Intelligent speed limit and overspeed alarm for vehicles;

[0094] In some cases, in order to ensure driving safety, the speed limit on the road is relatively strict, that is, the calculated rainy day speed limit is greater than the current road speed limit, that is, V Road <VRain When a vehicle is driving on such roads in rainy or snowy weather, the vehicle should be controlled to drive according to the road speed limit, that is, according to V Road Intelligent speed limit and overspeed alarm for vehicles;

[0095] If no valid road speed limit V is currently identified Road , the system directly uses the rainy day speed limit V Rain Intelligent speed limit and speeding alarm for vehicles.

[0096] In some possible implementations, the speed limit V for rainy days is Rain The calculation can be based on the current rainfall R, and the recommended driving speed V corresponding to the current rainfall and the current driving road can be queried through the network. Rmd , if there is no completely corresponding recommended driving speed V Rmd , we can interpolate the rainy day speed limit V according to the closest rainfall and road conditions. Rain .

[0097] In order to facilitate users to perform temporary driving operations such as overtaking, which require the vehicle speed to exceed the intelligent speed limit, and improve the driving comfort of the vehicle, based on the above embodiment, the method further includes:

[0098] Get the vehicle's accelerator pedal opening;

[0099] When the accelerator pedal opening is greater than a preset opening, the vehicle is controlled to travel at a speed corresponding to the accelerator pedal opening.

[0100] Among them, the vehicle's accelerator pedal opening can be obtained according to the accelerator pedal opening sensor, and the acquired accelerator pedal opening information is converted into an electrical signal and sent to the VCU for processing.

[0101] Taking the adjustment of the opening by stepping on the accelerator pedal as an example, when the driver steps on the accelerator pedal and the accelerator pedal opening exceeds the preset opening, the intelligent vehicle speed assistance system determines that the driver needs to control the vehicle to overtake and other needs, so that the vehicle speed temporarily exceeds the system's speed limit. At this time, the vehicle's speed is allowed to temporarily exceed the speed limit, thereby facilitating the driver to overtake and other operations. When the vehicle's accelerator pedal opening is lower than the preset opening for a certain period of time, the system restores the speed limit for the vehicle.

[0102] See also Figure 2 , Figure 2 This is a structural block diagram of a vehicle speed control device provided in an embodiment of the present application, the device comprising:

[0103] A first acquisition unit 210, configured to acquire a road speed limit of a current road on which the vehicle is traveling in response to the vehicle entering an automatic cruise mode;

[0104] The second acquisition unit 220 is used to acquire a second driving speed of a vehicle flow within a first preset distance in front of the vehicle on the current road and a vehicle flow length of the vehicle flow;

[0105] a road state determination unit 230, configured to determine that the current road is in a congested state in response to determining that the second driving speed is less than the road speed limit and the traffic flow length is greater than a length threshold;

[0106] The first vehicle speed control unit 240 is used to control the vehicle to travel at a third driving speed in response to determining that the current road is in a congested state; the third driving speed is lower than the second driving speed.

[0107] As a possible implementation manner, the length threshold is obtained based on a preset correspondence relationship, where the preset correspondence relationship is a correspondence relationship between multiple preset speed differences and multiple traffic lengths, and the speed difference is the speed difference between the road speed limit and the second driving speed.

[0108] As a possible implementation manner, the device further includes:

[0109] The second vehicle speed control unit is used to control the vehicle to travel at a fourth driving speed in response to the vehicle failing to obtain the road speed limit of the current road on which the vehicle is traveling within a preset time and determining that the current road is in a congested state; the fourth driving speed is lower than the third driving speed.

[0110] As a possible implementation manner, the device further includes:

[0111] a third acquisition unit, configured to acquire, when the vehicle is traveling in the traffic flow, a fifth driving speed of a target vehicle at a second preset distance ahead of the vehicle on the current road;

[0112] The third vehicle speed control unit is used for controlling the vehicle to travel at a sixth driving speed less than the road speed limit in response to determining that the fifth driving speed is greater than the road speed limit.

[0113] As a possible implementation manner, the device further includes:

[0114] A fourth acquisition unit, used to acquire a rainfall value when the vehicle is traveling;

[0115] A rainy day speed limit determination unit, used to determine the rainy day speed limit for the vehicle traveling on the current road according to the rainfall value and the road condition information of the current road;

[0116] The fourth vehicle speed control unit is used to control the vehicle to travel according to the rainy day speed limit.

[0117] As a possible implementation manner, the device further includes:

[0118] A fifth vehicle speed control unit is used to control the vehicle to travel according to the road speed limit in response to determining that the road speed limit is less than the rainy day speed limit.

[0119] As a possible implementation manner, the device further includes:

[0120] a fifth acquisition unit, configured to acquire an accelerator pedal opening of the vehicle;

[0121] The sixth vehicle speed control unit is used to control the vehicle to travel at a travel speed corresponding to the accelerator pedal opening when the accelerator pedal opening is greater than a preset opening.

[0122] It can be seen from the above technical solution that, in response to the vehicle entering the automatic cruise mode, the first driving speed of the vehicle and the road speed limit of the current road on which the vehicle is traveling are obtained; the second driving speed of the traffic flow within the first preset distance in front of the vehicle on the current road and the traffic flow length of the traffic flow are obtained; in response to determining that the second driving speed is less than the road speed limit and the first driving speed, and the traffic flow length is greater than the length threshold, the current road is determined to be in a congested state; in response to determining that the current road is in a congested state, the vehicle is controlled to travel at a third driving speed; the third driving speed is less than the second driving speed. The vehicle can not only adjust the driving speed according to the road speed limit, but also further correct the driving speed of the vehicle according to the driving speed and traffic flow length of the traffic flow ahead, thereby taking into account the road speed limit and the actual road conditions, and improving the driving safety of the vehicle in the automatic cruise mode.

[0123] See also Figure 3 , Figure 3 This is a structural block diagram of a computer device for vehicle speed control provided in an embodiment of the present application, wherein the computer device includes a processor 310 and a memory 320:

[0124] The memory 320 is used to store program codes and transmit the program codes to the processor 310;

[0125] The processor 310 is used to execute the vehicle speed control method described in any one of the above embodiments according to the instructions in the program code.

[0126] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, it is used to execute the vehicle speed control method described in any one of the above embodiments.

[0127] It is understandable that the method can be applied to a processing device, which is a processing device capable of performing motion control, for example, a terminal device or a server with a motion control function. The method can be executed independently by a terminal device or a server, or can be applied to a network scenario in which a terminal device and a server communicate, and is executed by the cooperation of the terminal device and the server. Among them, the terminal device can be a computer, a mobile phone and other devices. The server can be understood as an application server or a Web server. In actual deployment, the server can be an independent server or a cluster server.

[0128] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the above-mentioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the above-mentioned storage medium can be at least one of the following media: read-only memory (English: read-only memory, abbreviated: ROM), RAM, magnetic disk or optical disk, etc. Various media that can store program codes.

[0129] It should be noted that each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments. The device and system embodiments described above are merely schematic, in which the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.

[0130] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle speed control method, It is characterized in that The method comprises: In response to the vehicle entering an automatic cruise mode, obtaining a first driving speed of the vehicle and a road speed limit of a current road on which the vehicle is traveling; Acquire a second driving speed of a traffic flow within a first preset distance in front of the vehicle on the current road and a traffic flow length of the traffic flow; In response to determining that the second driving speed is less than the road speed limit and the first driving speed, and the traffic flow length is greater than a length threshold, determining that the current road is in a congested state; In response to determining that the current road is in a congested state, the vehicle is controlled to travel at a third travel speed; the third travel speed is lower than the second travel speed.

2. The method according to claim 1, It is characterized in that The length threshold is obtained according to a preset corresponding relationship, which is a corresponding relationship between a plurality of preset speed differences and a plurality of traffic flow lengths, and the speed difference is a speed difference between the road speed limit and the second driving speed.

3. The method according to claim 1, It is characterized in that The method further comprises: In response to the vehicle not obtaining the road speed limit of the current road on which the vehicle is traveling within a preset time and determining that the current road is in a congested state, the vehicle is controlled to travel at a fourth driving speed; the fourth driving speed is lower than the third driving speed.

4. The method according to claim 1, It is characterized in that The method further comprises: When the vehicle is traveling in the traffic flow, obtaining a fifth traveling speed of a target vehicle at a second preset distance ahead of the vehicle on the current road; In response to determining that the fifth driving speed is greater than the road speed limit, the vehicle is controlled to travel at a sixth driving speed that is less than the road speed limit.

5. The method according to claim 1, It is characterized in that The method further comprises: Obtaining a rainfall value when the vehicle is traveling; Determining a rainy day speed limit for the vehicle traveling on the current road according to the rainfall value and the road condition information of the current road; The vehicle is controlled to travel according to the rainy day speed limit.

6. The method according to claim 5, It is characterized in that The method further comprises: In response to determining that the road speed limit is less than the rainy speed limit, the vehicle is controlled to travel according to the road speed limit.

7. The method according to any one of claims 1 to 6, It is characterized in that The method further comprises: Obtaining the accelerator pedal opening of the vehicle; When the accelerator pedal opening is greater than a preset opening, the vehicle is controlled to travel at a travel speed corresponding to the accelerator pedal opening.

8. A vehicle speed control device, It is characterized in that The device comprises: A first acquisition unit, configured to acquire a road speed limit of a current road on which the vehicle is traveling in response to the vehicle entering an automatic cruise mode; A second acquisition unit is used to acquire a second driving speed of a traffic flow within a first preset distance in front of the vehicle on the current road and a traffic flow length of the traffic flow; a road state determination unit, configured to determine that the current road is in a congested state in response to determining that the second driving speed is less than the road speed limit and the traffic flow length is greater than a length threshold; The first vehicle speed control unit is used to control the vehicle to travel at a third travel speed in response to determining that the current road is in a congested state; the third travel speed is lower than the second travel speed.

9. A computer device, It is characterized in that The computer device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the vehicle speed control method described in any one of claims 1-7 according to the instructions in the program code.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium is used to store a computer program, and the computer program, when executed by a processor, is used to execute the vehicle speed control method according to any one of claims 1 to 7.

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