Auxiliary driving method, device and system and vehicle

Abstract

The invention discloses an auxiliary driving method, device and system and a vehicle. The method comprises the following steps: acquiring traffic speed limit sign information around the vehicle; when the traffic speed limit sign information comprises a ramp speed limit sign, whether the vehicle drives into a ramp where the ramp speed limit sign is located or not is determined; and controlling the speed of the vehicle according to the judgment result. According to the method, the device, the system and the vehicle, on the basis of determining that traffic speed limit sign information identified by a current vehicle comprises a ramp speed limit sign and determining whether the current vehicle is driven into a ramp where the ramp speed limit sign is located, the speed of the vehicle is controlled according to a judgment result. The problem that the traffic speed limit sign is mistakenly recognized when the vehicle runs on the main road can be effectively avoided, and the experience feeling of a driver and the driving safety are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically to an assisted driving method, device, system and vehicle. Background Art

[0002] The current mainstream assisted driving does not perform well at the ramp entrances of highways or elevated roads. Regardless of whether the traffic speed limit sign is a ramp speed limit sign or whether the vehicle on the main road enters the ramp, as long as the traffic speed limit sign is detected, the speed limit information will be prompted by voice or displayed on the instrument. In this case, the system will mistakenly identify the ramp speed limit sign as the main road speed limit sign, which will interfere with the driver and affect the driver's driving experience. Summary of the invention

[0003] This application is proposed to solve the above problems. According to one aspect of this application, an assisted driving method is provided, the method comprising: obtaining traffic speed limit sign information around a vehicle; when the traffic speed limit sign information includes a ramp speed limit sign, determining whether the vehicle enters the ramp where the ramp speed limit sign is located; and controlling the vehicle speed according to the judgment result.

[0004] In one embodiment of the present application, controlling the vehicle speed according to the judgment result includes: when it is determined that the vehicle has not entered the ramp, filtering the ramp speed limit sign from the traffic speed limit sign information, obtaining updated traffic speed limit sign information, and controlling the vehicle speed according to the updated traffic speed limit sign information.

[0005] In one embodiment of the present application, controlling the speed of the vehicle according to the judgment result includes: when it is determined that the vehicle enters a ramp, controlling the speed of the vehicle according to traffic speed limit sign information.

[0006] In one embodiment of the present application, traffic speed limit sign information is periodically acquired, the traffic speed limit sign information includes the speed limit indicated by the traffic speed limit sign, and determining whether to include the ramp speed limit sign based on the traffic speed limit sign information includes: comparing the first speed limit indicated by the traffic speed limit sign acquired in the current cycle with the second speed limit indicated by the traffic speed limit sign acquired in the previous cycle; when the first speed limit is equal to the second speed limit, determining that the traffic speed limit sign information does not include the ramp speed limit sign; when the first speed limit is less than the second speed limit, and the difference between the second speed limit and the first speed limit is within a preset numerical range, determining that the traffic speed limit sign information includes the ramp speed limit sign.

[0007] In one embodiment of the present application, the preset value range is 0 to 30 km / h.

[0008] In one embodiment of the present application, the traffic speed limit sign information also includes the spatial coordinates of the traffic speed limit sign, and determining whether the ramp speed limit sign is included based on the traffic speed limit sign information also includes: when the first speed limit is less than the second speed limit, and the difference between the second speed limit and the first speed limit is within a preset numerical range, based on the spatial coordinates of the traffic speed limit sign obtained in the current period, determining whether the distance between the traffic speed limit sign obtained in the current period and the vehicle is greater than or equal to a first distance threshold; when the distance between the traffic speed limit sign obtained in the current period and the vehicle is greater than or equal to the first distance threshold, determining that the traffic speed limit sign information includes the ramp speed limit sign.

[0009] In one embodiment of the present application, the first distance threshold is greater than or equal to the width of a lane.

[0010] In one embodiment of the present application, the traffic speed limit sign information also includes the spatial coordinates of the traffic speed limit sign, and determining whether the vehicle enters the ramp where the ramp speed limit sign is located includes: determining whether the distance between the traffic speed limit sign and the vehicle is less than a second distance threshold based on the spatial coordinates of the traffic speed limit sign; when the distance between the traffic speed limit sign and the vehicle is less than the second distance threshold, determining that the vehicle has entered the ramp where the ramp speed limit sign is located, otherwise determining that the vehicle has not entered the ramp where the ramp speed limit sign is located.

[0011] In one embodiment of the present application, the second distance threshold is less than or equal to the width of a lane.

[0012] According to another aspect of the present application, an assisted driving device is provided, the device comprising a processor and a memory, a computer program executed by the processor on the memory, and the computer program executes the above-mentioned assisted driving method when executed by the processor.

[0013] According to another aspect of the present application, an assisted driving system is provided, which includes a positioning subsystem, a perception subsystem, a decision subsystem and a control subsystem, wherein: the positioning subsystem is used to obtain the vehicle's posture information in real time and transmit it to the decision subsystem; the perception subsystem is used to detect the environment around the vehicle and transmit the detection results to the decision subsystem; the decision subsystem is used to make decisions on the vehicle based on the data information transmitted by the positioning subsystem and the perception subsystem, and transmit the decision information to the control subsystem; the control subsystem is used to control the vehicle based on the decision information transmitted by the decision subsystem; wherein the decision subsystem includes the above-mentioned assisted driving device to filter out erroneous speed limit information.

[0014] According to another aspect of the present application, a vehicle is provided, the vehicle comprising the above-mentioned assisted driving device or the above-mentioned assisted driving system.

[0015] The assisted driving method, device, system and vehicle of the present application are based on determining that the traffic speed limit sign information recognized by the current vehicle includes a ramp speed limit sign, and determining whether the current vehicle has entered the ramp where the ramp speed limit sign is located, and controlling the vehicle speed according to the judgment result. This can effectively avoid the problem of misidentifying traffic speed limit signs when the vehicle is traveling on the main road, thereby improving the driver's experience and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 A schematic block diagram of an electronic device for implementing the assisted driving method and device according to an embodiment of the present application is shown.

[0018] Figure 2 A schematic flowchart of an assisted driving method according to an embodiment of the present application is shown.

[0019] Figure 3 A schematic structural block diagram of a driving assistance device according to an embodiment of the present application is shown.

[0020] Figure 4 A schematic structural block diagram of an assisted driving system according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0022] With the installation and application of Advanced Driving Assistant System (ADAS) on vehicles, the intelligent traffic sign recognition system (TSR) function has become a standard feature of vehicles and is widely used. The TSR system is able to collect and identify the road traffic sign information that appears during the vehicle's driving process, and promptly give instructions or warnings to the driver, or directly control the vehicle to operate, in order to ensure smooth traffic and prevent accidents. Both the national standard and the European New Car Assessment Program have relevant technical requirements for the TSR system. The in-depth optimization of the TSR system from basic functions to intelligence has become an industry consensus. If the driver is using the adaptive cruise function, the TSR system will automatically decelerate urgently after misidentifying the ramp speed limit sign, which poses a certain safety risk.

[0023] In the existing technical solutions, the general solution is to infer whether it is a ramp speed limit sign and whether the vehicle intends to enter the ramp based on the difference between the current vehicle speed and the speed value represented by the suspected ramp speed limit sign, the road type, the turn signal and the brake pedal information. However, these methods do not handle the situation where the vehicle does not intend to enter the ramp and misidentifies the ramp speed limit sign, and then the TSR system of the vehicle misreports and the vehicle slows down, affecting the driver's experience and driving safety.

[0024] First, refer to Figure 1 An example electronic device 100 for implementing the method and apparatus for assisted driving according to an embodiment of the present invention is described.

[0025] like Figure 1 As shown, the electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, and an output device 108, and these components are interconnected through a bus system 110 and / or other forms of connection mechanisms (not shown). It should be noted that Figure 1 The components and structures of the electronic device 100 shown are merely exemplary and non-limiting. The electronic device may also have other components and structures as required.

[0026] The processor 102 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.

[0027] The storage device 104 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 102 may run the program instructions to implement the client functions (implemented by the processor) and / or other desired functions in the embodiments of the present invention described below. Various applications and various data, such as various data used and / or generated by the application, may also be stored in the computer-readable storage medium.

[0028] The input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, a touch screen, etc. In addition, the input device 106 may also be any interface for receiving information.

[0029] The output device 108 can output various information (such as images or sounds) to the outside (such as a user), and can include one or more of a display, a speaker, etc. In addition, the output device 108 can also be any other device with an output function.

[0030] For example, an example electronic device for implementing the assisted driving method and apparatus according to an embodiment of the present invention may be implemented as a smart vehicle terminal or the like.

[0031] Next, we will refer to Figure 2 To describe the assisted driving method 200 according to an embodiment of the present application. Figure 2 FIG. 2 shows a schematic flow chart of an assisted driving method 200 according to an embodiment of the present application. Figure 2 As shown, the assisted driving method 200 according to the embodiment of the present application may include the following steps:

[0032] In step S210, traffic speed limit sign information around the vehicle is obtained.

[0033] In step S220, when the traffic speed limit sign information includes a ramp speed limit sign, it is determined whether the vehicle enters the ramp where the ramp speed limit sign is located.

[0034] In step S230, the vehicle speed is controlled according to the determination result.

[0035] The assisted driving method according to the embodiment of the present application is based on determining that the traffic speed limit sign information recognized by the current vehicle includes a ramp speed limit sign, and determining whether the current vehicle has entered the ramp where the ramp speed limit sign is located, and controlling the vehicle speed according to the judgment result. This can effectively avoid the problem of misidentifying traffic speed limit signs when the vehicle is traveling on the main road, thereby improving the driver's experience and driving safety.

[0036] In an embodiment of the present application, during the driving process, the vehicle first obtains an environmental information image of the vehicle's surroundings, and the environmental information image of the vehicle's surroundings may be obtained periodically to facilitate the subsequent determination of the ramp speed limit sign. The periodic environmental information image refers to an environmental information image obtained within a certain preset time period, and the traffic speed limit sign information in the obtained periodic environmental image is used to determine whether it is a ramp speed limit sign.

[0037] In this embodiment, the environmental information image of the vehicle's surroundings can be obtained by at least one method, which is not specifically limited. As a possible implementation method, the environmental information image of the vehicle's surroundings can be collected by one or more camera devices, wherein the camera device can be set and selected according to actual conditions. The camera device is installed on the vehicle, and can collect the surrounding environmental information image on the road where the vehicle is traveling in real time, and perform corresponding image data processing on the surrounding environmental information image, such as image enhancement, denoising and deep learning processing, to determine whether there is a traffic speed limit sign in the collected environmental information image of the vehicle's surroundings, and then obtain the traffic speed limit sign information from the environmental information around the vehicle.

[0038] In an embodiment of the present application, the environmental information around the vehicle may be periodically acquired, and the environmental information includes traffic speed limit sign information, and the traffic speed limit sign information includes the speed limit indicated by the traffic speed limit sign. Determining whether a ramp speed limit sign is included based on the traffic speed limit sign information in step S220 may include: comparing a first speed limit indicated by a traffic speed limit sign in the environmental information acquired in the current cycle with a second speed limit indicated by a traffic speed limit sign in the environmental information acquired in the previous cycle; when the first speed limit is equal to the second speed limit, determining that the traffic speed limit sign information does not include a ramp speed limit sign; when the first speed limit is less than the second speed limit, and the difference between the second speed limit and the first speed limit is within a preset numerical range, determining that the traffic speed limit sign information includes a ramp speed limit sign.

[0039] In this embodiment, the embodiment of the present application can obtain the speed limit of the traffic speed limit sign by at least one method, which is not specifically limited. As a possible implementation method, the speed limit indicated by the traffic speed limit sign is processed accordingly by the environmental information image around the vehicle, such as image processing methods such as enhancement, denoising and deep learning processing, and then the speed limit indicated by the traffic speed limit sign is extracted from the environmental information image. As another possible implementation method, the environmental information data around the vehicle after the vehicle's camera and radar are fused is extracted by using the data conversion table on the perception side, and the environmental information data around the vehicle extracted from the data conversion table on the perception side is converted into a readable data, that is, specific traffic speed limit sign information, which includes the speed limit indicated by the traffic speed limit sign. The data table on the perception side is equivalent to a mapping table, and the speed limit indicated by the traffic speed limit sign is obtained by the value in the table. The first speed limit indicated by the traffic speed limit sign in the environmental information obtained in the current cycle is compared with the second speed limit indicated by the traffic speed limit sign in the environmental information obtained in the previous cycle, that is, the speed limit indicated by the current traffic speed limit sign in the environmental information collected by the camera device on the vehicle when the current vehicle is traveling on the main road is compared with the speed limit indicated by the traffic speed limit sign in the environmental information of the previous cycle of the current vehicle. The main road on which the vehicle travels can be an elevated road or a highway, because currently, elevated roads and highways basically have speed limit signs at the entrance of the ramp and in the ramp to ensure driving safety.

[0040] Exemplarily, if the speed limit of the current traffic speed limit sign is equal to the speed limit of the traffic speed limit sign in the previous cycle, then it is determined that the traffic speed limit sign information in the current environment information does not include the ramp speed limit sign. If the speed limit of the current traffic speed limit sign is less than the speed limit of the traffic speed limit sign in the previous cycle, and the difference between the speed limit of the current traffic speed limit sign and the speed limit of the traffic speed limit sign in the previous cycle is within a preset numerical range, it is determined that the current traffic speed limit sign information includes the ramp speed limit sign. The speed limit of the current traffic speed limit sign is compared with the speed limit of the traffic speed limit sign in the previous cycle to determine whether the currently acquired traffic speed limit sign information includes the ramp speed limit sign. This is because the speed limit of the traffic speed limit sign on the elevated road and the highway is definitely different from the speed limit of the ramp speed limit sign, and there is a certain difference, and this difference is used as the basis for determining that the traffic speed limit sign is a ramp speed limit sign. For example, the speed limit on the traffic speed limit sign in the current cycle is obtained to be 120km / h, and the speed limit on the traffic speed limit sign in the previous cycle is 100km / h. The difference between the two is 20km / h.

[0041] In an embodiment of the present application, the difference between the speed limit of the current traffic speed limit sign and the speed limit of the traffic speed limit sign in the previous cycle is compared with a preset numerical range. The preset numerical range here can be 0km / h to 30km / h. This is because according to relevant international standards, on a highway or elevated road, the difference between the speed limit of the ramp speed limit sign set at the ramp entrance and the speed limit of the traffic speed limit sign set on the main road should not exceed 30km / h. For example, if the speed limit of the traffic speed limit sign on the highway or elevated road is 90km / h, the speed limit of the ramp speed limit sign set on the right ramp of the highway or elevated road should not be less than 60km / h. And the speed limit set on the ramp must also be less than the speed limit set on the highway or elevated road, so as to ensure that when the vehicle is traveling at a high speed on the main road, it needs to reduce the speed when it intends to merge into the ramp, ensuring the safety of driving.

[0042] In an embodiment of the present application, the traffic speed limit sign information also includes the spatial coordinates of the traffic speed limit sign, and determining whether the ramp speed limit sign is included based on the traffic speed limit sign information in step S220 also includes: when the first speed limit is less than the second speed limit, and the difference between the second speed limit and the first speed limit is within a preset numerical range, based on the spatial coordinates of the traffic speed limit sign in the environmental information obtained in the current period, determining whether the distance between the traffic speed limit sign in the environmental information obtained in the current period and the vehicle is greater than or equal to the first distance threshold; when the distance between the traffic speed limit sign in the environmental information obtained in the current period and the vehicle is greater than or equal to the first distance threshold, determining that the traffic speed limit sign information includes the ramp speed limit sign. Based on the above discussion, the difference between the speed limit of the current traffic speed limit sign and the speed limit of the traffic speed limit sign in the previous period is compared with the preset numerical range, and the difference between the speed limit of the current traffic speed limit sign and the speed limit of the traffic speed limit sign in the previous period can be 0km / h to 30km / h.

[0043] In this embodiment, it is necessary to meet the conditions that the speed limit of the traffic speed limit sign in the current cycle is less than the speed limit of the traffic speed limit sign in the previous cycle, and the difference between the two speed limits is within 0km / h to 30km / h; at the same time, it is also necessary to meet the distance between the traffic speed limit sign in the environmental information obtained in the current cycle and the current target vehicle is greater than or equal to the first distance threshold, and determine that the current traffic speed limit sign information includes a ramp speed limit sign. The distance between the traffic speed limit sign and the current vehicle is determined based on the spatial coordinates of the traffic speed limit sign, and the spatial coordinates of the traffic speed limit sign can be obtained in at least one way, which is not specifically limited. As a possible implementation method, the spatial coordinates of the traffic speed limit sign are processed accordingly by the environmental information image around the vehicle, such as image processing methods such as enhancement, denoising and deep learning processing, and then the spatial coordinates of the traffic speed limit sign are extracted from the environmental information image. As another possible implementation method, the environmental information data around the vehicle after the camera and radar of the vehicle are fused is extracted by comparing the data conversion table on the perception side, and the environmental information data around the vehicle extracted from the data conversion table on the perception side is converted into a readable data, that is, specific traffic speed limit sign information, which includes the spatial coordinates of the traffic speed limit sign.

[0044] In this embodiment, in actual situations, the ramp is located on the right side of the expressway or elevated road, so the ramp speed limit sign suspended above the ramp is also located on the right side of the expressway or elevated road. Therefore, when the vehicle is traveling on the expressway or elevated road, the distance between the right ramp speed limit sign and the vehicle is relatively large, and the distance between the two can be used to determine that the traffic speed limit sign is a ramp speed limit sign. If the distance between the traffic speed limit sign and the vehicle is greater than or equal to the first distance threshold, the condition for determining that the current traffic speed limit sign is a ramp speed limit sign is met. The distance between the traffic speed limit sign and the vehicle is also the lateral distance between the traffic speed limit sign and the target vehicle traveling on the main road at this time. The lateral distance can be determined by the extracted spatial coordinates of the traffic speed limit sign and the spatial coordinates of the vehicle.

[0045] For example, the spatial coordinates of the traffic speed limit sign can be determined by taking the center of the rear axle of the vehicle as the origin of the coordinate system to determine the spatial coordinates X, Y, and Z of the traffic speed limit sign. In the coordinate system, the X direction generally refers to the longitudinal direction of the vehicle, the Y direction refers to the lateral direction of the vehicle, and the Z direction refers to the vertical direction of the vehicle. Therefore, the lateral distance between the traffic speed limit sign and the target vehicle can be obtained by the distance in the Y direction of the coordinate system, so as to determine whether the traffic speed limit sign information includes a ramp speed limit sign.

[0046] In an embodiment of the present application, the lateral distance between the traffic speed limit sign and the vehicle is determined by a first distance threshold. The first distance threshold can be determined based on the width of the actual road, and the first distance threshold is greater than or equal to a lane width. In actual situations, since the lane widths of different roads are not the same, the size of the first distance threshold will also change with the lane widths of different roads. If the lateral distance between the traffic speed limit sign and the vehicle is greater than or equal to the first distance threshold, that is, the lateral distance between the traffic speed limit sign and the vehicle is greater than or equal to a lane width, the condition that the traffic speed limit sign information includes a ramp speed limit sign can be met. For example, when a vehicle is usually traveling in the rightmost lane on the main road, the distance between the vehicle and the traffic speed limit sign on the right side of the main road is the smallest. If the distance between the vehicle and the right traffic speed limit sign is greater than or equal to a lane width, it can be confirmed that the traffic speed limit sign information includes a ramp speed limit sign.

[0047] In an embodiment of the present application, the traffic speed limit sign information also includes the spatial coordinates of the traffic speed limit sign. In step S220, when it is determined that the traffic speed limit sign information includes a ramp speed limit sign, determining whether the vehicle enters the ramp where the ramp speed limit sign is located includes: based on the spatial coordinates of the traffic speed limit sign, determining whether the distance between the traffic speed limit sign and the vehicle is less than a second distance threshold; when the distance between the traffic speed limit sign and the vehicle is less than the second distance threshold, determining that the vehicle enters the ramp where the ramp speed limit sign is located, otherwise determining that the vehicle does not enter the ramp where the ramp speed limit sign is located. The spatial coordinates of the traffic speed limit sign in the traffic speed limit sign information can be obtained by at least one method, which is not specifically limited. As a possible implementation method, the spatial coordinates of the traffic speed limit sign are processed accordingly by the environmental information image around the vehicle, such as image processing methods such as enhancement, denoising and deep learning processing, and then the spatial coordinates of the traffic speed limit sign are extracted from the environmental information image. As another possible implementation method, by comparing the data conversion table on the perception side, the environmental information data of the vehicle's surroundings after the vehicle's camera and radar are fused is extracted, and the environmental information data of the vehicle's surroundings extracted from the data conversion table on the perception side is converted into a readable data, that is, the information of the specific traffic speed limit sign, including the spatial coordinates of the traffic speed limit sign. Based on the spatial coordinates of the acquired traffic speed limit sign, the distance between the traffic speed limit sign and the target vehicle is determined, and the distance between the two is based on the second distance threshold as a reference condition, which is used to determine whether the vehicle enters the ramp where the ramp speed limit sign is located.

[0048] In this embodiment, the determination of the ramp where the vehicle enters the ramp speed limit sign is based on the distance between the vehicle and the right ramp speed limit sign, and the second distance threshold is used as the judgment standard. The second distance threshold can be determined based on the width of the actual road, and the second distance threshold is less than or equal to the width of one lane. Since the lane widths of different roads are different, the size of the second distance threshold will also change with the lane widths of different roads. If the distance between the vehicle traveling on the main road and the right ramp speed limit sign is less than the second distance threshold, that is, the distance between the vehicle traveling on the main road and the right ramp speed limit sign is less than the width of one lane, it is determined that the vehicle enters the ramp where the ramp speed limit sign is located. For example, when a vehicle is driving in the rightmost lane on the main road and has not entered the ramp at this time, the distance between the vehicle and the right ramp speed limit sign on the main road is the smallest, and the distance between the vehicle and the right ramp speed limit sign is greater than one lane width; when the vehicle enters the ramp where the ramp speed limit sign is located, the distance between the vehicle and the ramp speed limit sign on the right side of the ramp must be less than one lane width; when the vehicle is driving in other lanes on the main road except the rightmost lane, the distance between the vehicle and the right ramp speed limit sign must be greater than one lane width. Therefore, the situation of the vehicle entering the ramp can be analyzed by comparing the distance between the vehicle and the right ramp speed limit sign with the second distance threshold.

[0049] In an embodiment of the present application, controlling the speed of the vehicle according to the judgment result in step S230 includes: when it is determined that the vehicle has not entered the ramp, filtering the ramp speed limit sign from the traffic speed limit sign information, obtaining updated traffic speed limit sign information, and controlling the speed of the vehicle according to the updated traffic speed limit sign information. When the vehicle has not entered the ramp, that is, the vehicle is still traveling on the main road, but at this time, due to complex road conditions, there is a height difference between the upper and lower ramps, or other possible situations, the vehicle misidentifies the ramp speed limit sign when traveling on the main road. At this time, the TSR system will filter out the misidentified ramp speed limit sign and obtain updated traffic speed limit sign information. At this time, the new traffic speed limit sign information is the traffic speed limit sign information before the misidentified ramp speed limit sign. Therefore, the vehicle traveling on the main road at this time will still maintain the previous speed and travel on the main road, avoiding the problem of emergency deceleration due to misidentification of the ramp speed limit sign, thereby improving the driving experience and driving safety.

[0050] In an embodiment of the present application, controlling the vehicle speed according to the judgment result in step S230 includes: when it is determined that the vehicle enters the ramp, controlling the vehicle speed according to the traffic speed limit sign information. When the vehicle is traveling on the main road at this time and enters the ramp where the ramp speed limit sign is located, the vehicle speed needs to be adjusted according to the speed limit indicated by the ramp speed limit sign at this time. Because on highways or elevated roads, the speed limit of the speed limit sign on the ramp on the right side of the road is less than the speed limit of the traffic speed limit sign on the main road, which is to ensure the driving safety of the vehicle on the main road when it intends to merge into the ramp. Therefore, when the vehicle enters the ramp at this time, it needs to be adjusted according to the speed limit of the ramp speed limit sign, that is, the vehicle needs to reduce the speed to below the speed limit of the ramp speed limit sign at this time to ensure driving safety.

[0051] In an embodiment of the present application, if the vehicle's camera device collects the environmental information around the vehicle, the environmental information includes traffic speed limit sign information, and it is determined that the traffic speed limit sign information includes a ramp speed limit sign, and it is determined that the current vehicle has not entered the ramp where the ramp speed limit sign is located, the TSR system of the ADAS subsystem of the vehicle automatically filters out the traffic speed limit sign from the environmental information to obtain new environmental information, and the new environmental information is used for assisting the vehicle driving. After the vehicle filters out the mis-identified traffic speed limit sign, the subsequent ADAS control algorithm of the vehicle will not perform control operations for vehicle assisted driving based on the mis-identified traffic speed limit sign information. For example, when the vehicle is traveling on the main road and mis-identifies the traffic speed limit sign, the TSR system of the ADAS will not perform an emergency speed reduction on the current vehicle based on the mis-identified traffic speed limit sign, and / or the vehicle will not give voice prompts such as warning the driving user that they are speeding and need to reduce the speed, and / or the vehicle's display screen will not display information such as the driving user speeding. At the same time, if the driver is using the adaptive cruise function at this time, after the vehicle's TSR system mis-identifies the traffic speed limit sign, the vehicle will not automatically perform an emergency speed reduction.

[0052] Therefore, the assisted driving method according to the embodiment of the present application is based on determining that the traffic speed limit sign information recognized by the current vehicle includes a ramp speed limit sign, and determining whether the current vehicle enters the ramp where the ramp speed limit sign is located, and controlling the vehicle speed according to the judgment result, which can effectively avoid the problem of mis-identifying the traffic speed limit sign when the vehicle is traveling on the main road, thereby improving the driver's experience and driving safety.

[0053] The following will be combined with Figure 3 Describe the assisted driving device provided according to another aspect of the present application. Figure 3 FIG. shows a schematic structural block diagram of an assisted driving device 300 according to an embodiment of the present application. As Figure 3As shown, the assisted driving device 300 includes a memory 310 and a processor 320, wherein: a computer executable program executed by the processor 320 is stored on the memory 310, and when the computer executable program is executed by the processor 320, the processor 320 executes the assisted driving method 200 described above. Those skilled in the art can understand the structure and specific operation of each module in the assisted driving device 300 according to the embodiment of the present application in combination with the content described above, and for the sake of brevity, they will not be repeated here. Therefore, according to the assisted driving device of the embodiment of the present application, it is determined that the traffic speed limit sign information recognized by the current vehicle includes a ramp speed limit sign, and determines whether the current vehicle enters the ramp where the ramp speed limit sign is located, and controls the speed of the vehicle according to the judgment result, which can effectively avoid the problem of misidentifying the traffic speed limit sign when the vehicle is driving on the main road, thereby improving the driver's experience and driving safety.

[0054] According to another aspect of the present application, a driving assistance system is also provided. Figure 4 to describe. Figure 4 FIG. 4 shows a schematic structural block diagram of an assisted driving system 400 according to an embodiment of the present application. Figure 4 As shown, the assisted driving system 400 includes a positioning subsystem 410, a perception subsystem 420, a decision subsystem 430 and a control subsystem 440. Among them, the positioning subsystem 410 is used to obtain the posture information of the driving vehicle in real time and transmit it to the decision subsystem 430; the perception subsystem 420 is used to detect the environment around the vehicle and transmit the detection result to the decision subsystem 430; the decision subsystem 430 is used to make decisions on the driving vehicle in combination with the data information transmitted by the positioning subsystem 410 and the perception subsystem 420, and transmit the decision information to the control subsystem 440; the control subsystem 440 is used to control the driving vehicle based on the decision information transmitted by the decision subsystem 430; wherein the decision subsystem 430 includes the assisted driving device according to the embodiment of the present application described above, so as to filter out erroneous speed limit information. Those skilled in the art can understand the specific operation of positioning by the positioning subsystem in the assisted driving system according to the embodiment of the present application in combination with the content described above, and for the sake of brevity, it will not be repeated here. Therefore, the assisted driving system according to the embodiment of the present application can filter out misidentified traffic speed limit signs, and can effectively avoid the problem of misidentifying traffic speed limit signs when the vehicle is traveling on the main road, thereby improving the driver's experience and driving safety.

[0055] In addition, according to an embodiment of the present application, a vehicle is also provided, which may include the assisted driving device 300 described above or the assisted driving system 400 described above to assist vehicle driving.

[0056] In addition, the present application also provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the processor executes the assisted driving method according to the embodiment of the present application described above. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0057] Based on the above description, the assisted driving method, device, system and vehicle according to the embodiments of the present application determine that the traffic speed limit sign information recognized by the current vehicle includes a ramp speed limit sign, and determine whether the current vehicle enters the ramp where the ramp speed limit sign is located, and control the vehicle speed according to the judgment result. This can effectively avoid the problem of misidentifying traffic speed limit signs when the vehicle is traveling on the main road, thereby improving the driver's experience and driving safety.

[0058] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0059] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0060] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0061] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0062] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0063] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0064] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0065] The various component embodiments of the present application can be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a part or all of a program (e.g., a computer program and a computer program product) for performing the method described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0066] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented with the aid of hardware comprising a number of different elements and with the aid of a suitably programmed computer. In a unit claim listing several abnormality detection devices for train traction systems, several of these abnormality detection devices for train traction systems may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0067] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A driving assistance method, It is characterized in that The method comprises: Obtain traffic speed limit sign information around the vehicle; When the traffic speed limit sign information includes a ramp speed limit sign, determining whether the vehicle enters the ramp where the ramp speed limit sign is located; The speed of the vehicle is controlled according to the judgment result.

2. The method according to claim 1, It is characterized in that The controlling of the vehicle speed according to the judgment result includes: When it is determined that the vehicle has not entered the ramp, the ramp speed limit sign is filtered out from the traffic speed limit sign information to obtain updated traffic speed limit sign information, and the speed of the vehicle is controlled according to the updated traffic speed limit sign information.

3. The method according to claim 2, It is characterized in that The controlling of the vehicle speed according to the judgment result includes: When it is determined that the vehicle enters the ramp, the speed of the vehicle is controlled according to the traffic speed limit sign information.

4. The method according to claim 1, It is characterized in that The traffic speed limit sign information is periodically acquired, and the traffic speed limit sign information includes the speed limit indicated by the traffic speed limit sign. Determining whether a ramp speed limit sign is included based on the traffic speed limit sign information includes: Compare the first speed limit indicated by the traffic speed limit sign obtained in the current cycle with the second speed limit indicated by the traffic speed limit sign obtained in the previous cycle; When the first speed limit is equal to the second speed limit, determining that the traffic speed limit sign information does not include a ramp speed limit sign; When the first speed limit is less than the second speed limit, and a difference between the second speed limit and the first speed limit is within a preset value range, it is determined that the traffic speed limit sign information includes a ramp speed limit sign.

5. The method according to claim 4, It is characterized in that The preset value range is 0 to 30 km / h.

6. The method according to claim 4, It is characterized in that The traffic speed limit sign information also includes the spatial coordinates of the traffic speed limit sign, and the determining whether to include a ramp speed limit sign based on the traffic speed limit sign information further includes: When the first speed limit is less than the second speed limit, and the difference between the second speed limit and the first speed limit is within a preset value range, determining whether the distance between the traffic speed limit sign obtained in the current period and the vehicle is greater than or equal to a first distance threshold based on the spatial coordinates of the traffic speed limit sign obtained in the current period; When the distance between the traffic speed limit sign acquired in the current period and the vehicle is greater than or equal to the first distance threshold, it is determined that the traffic speed limit sign information includes a ramp speed limit sign.

7. The method according to claim 6, It is characterized in that The first distance threshold is greater than or equal to the width of one lane.

8. The method according to claim 1, It is characterized in that The traffic speed limit sign information also includes the spatial coordinates of the traffic speed limit sign, and the determining whether the vehicle enters the ramp where the ramp speed limit sign is located includes: determining, based on the spatial coordinates of the traffic speed limit sign, whether the distance between the traffic speed limit sign and the vehicle is less than a second distance threshold; When the distance between the traffic speed limit sign and the vehicle is less than the second distance threshold, it is determined that the vehicle has entered the ramp where the ramp speed limit sign is located; otherwise, it is determined that the vehicle has not entered the ramp where the ramp speed limit sign is located.

9. The method according to claim 8, It is characterized in that The second distance threshold is less than or equal to the width of one lane.

10. A driving assistance device, It is characterized in that The device comprises a processor and a memory, wherein a computer program executed by the processor is stored in the memory, and the computer program, when executed by the processor, executes the assisted driving method according to any one of claims 1 to 9.

11. A driver assistance system, It is characterized in that The system includes a positioning subsystem, a perception subsystem, a decision subsystem and a control subsystem, wherein: The positioning subsystem is used to obtain the position information of the vehicle in real time and transmit it to the decision subsystem; The perception subsystem is used to detect the environment around the vehicle and transmit the detection result to the decision subsystem; The decision subsystem is used to make a decision on the vehicle by combining the data information transmitted by the positioning subsystem and the perception subsystem, and transmit the decision information to the control subsystem; The control subsystem is used to control the vehicle based on the decision information transmitted by the decision subsystem; Wherein, the decision-making subsystem includes the auxiliary driving device described in claim 10, so as to filter out erroneous speed limit information.

12. A vehicle, It is characterized in that The vehicle includes the assisted driving device according to claim 10 or the assisted driving system according to claim 11.

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