Speed limit decision-making method for ramp scene and vehicle

Abstract

The invention provides a speed limit decision-making method for a ramp scene and a vehicle, and the method is characterized in that the method comprises the steps: data collection: obtaining the information of the environment around the vehicle, the speed information of the vehicle, and the control information of a driver on the vehicle; a lane changing behavior judgment step: a lane changing behavior judgment result is generated according to the environment information and the control information, and the lane changing behavior judgment result is that the lane changing behavior is satisfied or not satisfied; a ramp scene speed limit judgment step: a ramp scene speed limit judgment result is generated according to the environment information and the vehicle speed information, and the ramp scene speed limit judgment result is that the ramp scene speed limit is met or not met; and a ramp speed limit value adjustment step: when the lane changing behavior judgment result is that the lane changing behavior is satisfied and the ramp scene speed limit judgment result is that the ramp scene speed limit is satisfied, updating the speed limit value of the vehicle to a numerical value corresponding to the newly identified ramp speed limit board in the environment information. In a word, the method can accurately judge the ramp scene and automatically adjust the speed limit value.

Description

Technical Field

[0001] The present invention belongs to the field of assisted driving, and particularly relates to a speed limit decision-making method for ramp scenarios and a vehicle. Background Art

[0002] In automotive assisted driving, ramp scenarios are an important application area for speed limit decision-making methods. As a transitional part connecting the main road and the access road, drivers need to adjust the vehicle speed in a timely manner to ensure safe entry into or exit from the main road. The speed limit decision-making method for ramp scenarios needs to fully consider the driving state of the vehicle, the surrounding environment, and the special nature of the ramp to ensure that the vehicle can accurately and efficiently complete the turning operation.

[0003] Since the current speed limit decision-making methods for ramp scenarios are not yet mature and mostly rely on the integration of visual perception and radar or high-precision maps, which is costly, there is an urgent need for a method that can efficiently and accurately solve the speed limit decision-making problem for ramp scenarios. Summary of the Invention

[0004] The present invention is made to solve the above problems, and aims to provide a speed limit decision-making method for ramp scenarios and a vehicle.

[0005] The present invention provides a speed limit decision-making method for ramp scenarios, which is used to generate a speed limit value for a vehicle, and has the following features: a data acquisition step of obtaining the environmental information around the vehicle, the vehicle speed information, and the driver's control information for the vehicle; a lane change behavior judgment step of generating a lane change behavior judgment result according to the environmental information and the control information, and the lane change behavior judgment result is that the lane change behavior is satisfied or the lane change behavior is not satisfied; a ramp scenario speed limit judgment step of generating a ramp scenario speed limit judgment result according to the environmental information and the vehicle speed information, and the ramp scenario speed limit judgment result is that the ramp scenario speed limit is satisfied or the ramp scenario speed limit is not satisfied; a ramp speed limit value adjustment step of updating the speed limit value of the vehicle to the value corresponding to the latest identified ramp speed limit sign in the environmental information when the lane change behavior judgment result is that the lane change behavior is satisfied and the ramp scenario speed limit judgment result is that the ramp scenario speed limit is satisfied, where the ramp speed limit sign is a speed limit sign with a corresponding value less than a first preset value.

[0006] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may also have the following characteristics: Among them, the environmental information includes the current lane of the vehicle, the control information includes the right turn signal information and the steering wheel turning information of the vehicle, and the lane change behavior judgment step includes the following sub-steps: Step S2-1, determine whether the current lane is the rightmost lane. If so, enter Step S2-2. If not, the lane change behavior judgment result is that the lane change behavior is not satisfied; Step S2-2, determine whether the steering wheel turns to the right according to the steering wheel turning information. If so, enter Step S2-3. If not, the lane change behavior judgment result is that the lane change behavior is not satisfied; Step S2-3, determine whether the right turn signal is operating according to the right turn signal information. If so, enter Step S2-4. If not, the lane change behavior judgment result is that the lane change behavior is not satisfied; Step S2-4, determine whether the vehicle changes lanes to the right according to the current lane. If so, the lane change behavior judgment result is that the lane change behavior is satisfied. If not, enter Step S2-1.

[0007] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may also have the following characteristics: Among them, in Step S2-4, when the vehicle crosses the lane line of the current lane to the right, the vehicle changes lanes to the right.

[0008] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may also have the following characteristics: Among them, the ramp scenario speed limit judgment step includes the following sub-steps: Step S3-1, determine whether a ramp speed limit sign is currently recognized according to the environmental information. If so, enter Step S3-2. If not, the ramp scenario speed limit judgment result is that the ramp scenario speed limit is not satisfied; Step S3-2, generate weight values corresponding to multiple different judgment items according to the environmental information and the vehicle speed information; Step S3-3, determine whether the sum of all weight values is greater than or equal to a preset weight sum threshold. If so, the ramp scenario speed limit judgment result is that the ramp scenario speed limit is satisfied. If not, the ramp scenario speed limit judgment result is that the ramp scenario speed limit is not satisfied.

[0009] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may further have the following characteristics: Among them, the environmental information includes ramp exit signs and bend signs, the vehicle speed information includes the current speed limit value of the vehicle, and the judgment items and corresponding weight values include: Judging whether there is a ramp exit sign. If so, the corresponding weight value is the first preset weight value; if not, the corresponding weight value is 0. Judging whether there is a bend sign. If so, the corresponding weight value is the second preset weight value; if not, the corresponding weight value is 0. Judging whether the difference between the current speed limit value and the value corresponding to the currently recognized ramp speed limit sign is greater than or equal to the preset difference. If so, the corresponding weight value is the third preset weight value; if not, the corresponding weight value is 0. Judging whether the lateral distance between the vehicle and the currently recognized ramp speed limit sign is the largest among all recognized speed limit signs. If so, the corresponding weight value is the fourth preset weight value; if not, the corresponding weight value is 0. Judging that when the vehicle recognizes the ramp speed limit sign, the longitudinal distance between the vehicle and the previous recognized speed limit sign is less than or equal to the preset longitudinal distance value. If so, the corresponding weight value is the fifth preset weight value; if not, the corresponding weight value is 0.

[0010] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may further have the following characteristics: Among them, the lateral distance is the distance between the vehicle and the speed limit sign when they are on the same horizontal plane, and the longitudinal distance is the distance between the vehicle and the speed limit sign when they are on the same longitudinal plane.

[0011] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may further have the following characteristics: Among them, the first preset weight value is 10, the second preset weight value, the third preset weight value, and the fourth preset weight value are all 4, the fifth preset weight value is 6, and the preset weight and threshold are 10.

[0012] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may further have the following characteristics: Among them, the first preset value is 80.

[0013] In the speed limit decision-making method for ramp scenarios provided by the present invention, it may further have the following characteristics: Among them, in the ramp speed limit value adjustment step, judge whether there is a lane change action within the preset lane change distance after the vehicle passes the latest recognized ramp speed limit sign. If so, update the speed limit value of the vehicle; if not, do not update the speed limit value of the vehicle.

[0014] The present invention also provides a vehicle that updates the speed limit value in a ramp scenario, and has the following features: a data acquisition module for real-time obtaining the environmental information around the vehicle, the vehicle speed information, and the driver's control information of the vehicle; a lane change behavior judgment module for generating a lane change behavior judgment result based on the environmental information and the control information, and the lane change behavior judgment result is that the lane change behavior is satisfied or the lane change behavior is not satisfied; a ramp scenario speed limit judgment module for generating a ramp scenario speed limit judgment result based on the environmental information and the vehicle speed information, and the ramp scenario speed limit judgment result is that the ramp scenario speed limit is satisfied or the ramp scenario speed limit is not satisfied; a ramp speed limit value adjustment module for updating the speed limit value of the vehicle to the value corresponding to the latest identified ramp speed limit sign in the environmental information when the lane change behavior judgment result is that the lane change behavior is satisfied and the ramp scenario speed limit judgment result is that the ramp scenario speed limit is satisfied, wherein the ramp speed limit sign is a speed limit sign with a corresponding value less than the first preset value.

[0015] Functions and effects of the invention

[0016] According to the speed limit decision-making method and vehicle for a ramp scenario involved in the present invention, because it is determined whether there is a lane change behavior of the vehicle moving from the main road to the ramp through the lane change behavior judgment, and it is determined whether there is a requirement for the ramp speed limit through the ramp scenario speed limit judgment, and then the speed limit value of the vehicle is updated according to the speed limit requirement of the ramp speed limit sign. Therefore, the speed limit decision-making method and vehicle for a ramp scenario of the present invention can accurately judge the ramp scenario and automatically adjust the speed limit value. Description of the drawings

[0017] Figure 1 is a block diagram of the vehicle in the embodiment of the present invention;

[0018] Figure 2 is a schematic flow chart of the lane change behavior judgment in the embodiment of the present invention;

[0019] Figure 3 is a schematic flow chart of the ramp scenario speed limit judgment in the embodiment of the present invention;

[0020] Figure 4 is a schematic flow chart of the speed limit decision-making method for a ramp scenario in the embodiment of the present invention. Detailed implementation manners

[0021] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the following embodiments will specifically describe the speed limit decision-making method and vehicle for a ramp scenario of the present invention in conjunction with the accompanying drawings.

[0022] In this embodiment, a vehicle is provided that can update the speed limit value in a ramp scenario. In this embodiment, the vehicle is a left-hand drive vehicle, and the ramp scenario is that the vehicle traveling on the main road needs to enter the ramp. The main road and the ramp have different speed limit requirements, such as a highway.

[0023] Figure 1 It is a block diagram of the vehicle in the embodiment of the present invention.

[0024] As Figure 1 shown, the vehicle 100 includes a data acquisition module 10, a lane change behavior judgment module 20, a ramp scenario speed limit judgment module 30, a ramp speed limit value adjustment module 40, and a control module 50.

[0025] The data acquisition module 10 is used to obtain the environmental information around the vehicle 100, the vehicle speed information of the vehicle 100, and the driver's control information of the vehicle 100 in real time.

[0026] In this embodiment, the environmental information is obtained through a vision sensor, such as a camera. The environmental information includes the current lane of the vehicle 100, the ramp exit sign, and the curve sign. The control information includes the right turn signal information and the steering wheel turning information of the vehicle 100. The vehicle speed information includes the current speed limit value of the vehicle 100.

[0027] The lane change behavior judgment module 20 generates a lane change behavior judgment result according to the environmental information and the control information. The lane change behavior judgment result is that the lane change behavior is satisfied or the lane change behavior is not satisfied.

[0028] Figure 2 It is a schematic flow chart of the lane change behavior judgment in the embodiment of the present invention.

[0029] As Figure 2 shown, the lane change behavior judgment performed by the lane change behavior judgment module 20 includes the following sub-steps:

[0030] Step S2-1, judge whether the current lane is the rightmost lane. If so, enter step S2-2. If not, the lane change behavior judgment result is that the lane change behavior is not satisfied.

[0031] Step S2-2, judge whether the steering wheel turns to the right according to the steering wheel turning information. If so, enter step S2-3. If not, the lane change behavior judgment result is that the lane change behavior is not satisfied.

[0032] Step S2-3, judge whether the right turn signal is operating according to the right turn signal information. If so, enter step S2-4. If not, the lane change behavior judgment result is that the lane change behavior is not satisfied.

[0033] Step S2-4: Determine whether vehicle 100 changes lanes to the right according to the current lane. If yes, the lane change behavior determination result is that the lane change behavior is satisfied. If no, proceed to step S2-1.

[0034] Among them, when vehicle 100 crosses the right lane line of the current lane to the right, vehicle 100 changes lanes to the right.

[0035] The ramp scene speed limit determination module 30 generates a ramp scene speed limit determination result based on the environmental information and the vehicle speed information. The ramp scene speed limit determination result is that the ramp scene speed limit is satisfied or not satisfied.

[0036] Figure 3 It is a schematic flowchart of the ramp scene speed limit determination in the embodiments of the present invention.

[0037] As Figure 3 shown, the ramp scene speed limit determination performed by the ramp scene speed limit determination module 30 includes the following steps:

[0038] Step S3-1: Determine whether a ramp speed limit sign is currently recognized according to the environmental information. If yes, proceed to step S3-2. If no, the ramp scene speed limit determination result is that the ramp scene speed limit is not satisfied.

[0039] Among them, the ramp speed limit sign is a speed limit sign with a corresponding value less than the first preset value. In this embodiment, the first preset value is 80, that is, 80 kph. In this embodiment, the values of the subsequent speed limit signs and the units of the speed limit values are all kph, and will not be repeated.

[0040] Step S3-2: Generate weight values corresponding to multiple different judgment items based on the environmental information and the vehicle speed information.

[0041] Among them, the judgment items and the corresponding weight values include:

[0042] Determine whether there is a ramp exit sign. If yes, the corresponding weight value is the first weight preset value. If no, the corresponding weight value is 0. In this embodiment, the first weight preset value is 10. In this embodiment, the ramp exit sign is a sign that contains the words "ramp exit". This sign is used to prompt that there is a ramp nearby, that is, it is considered that the ramp scene is satisfied, and the corresponding first weight preset value is directly set to a value greater than or equal to the preset weight sum threshold.

[0043] Determine whether there is a curve sign. If yes, the corresponding weight value is the second weight preset value. If no, the corresponding weight value is 0. In this embodiment, the second weight preset value is 4. In this embodiment, the curve sign is a sign that reminds the driver that there is a curve in the front section of the road. The sudden turning of the road is related to the ramp to a certain extent. Therefore, the second weight preset value is given a value less than the preset weight sum threshold.

[0044] Determine whether the difference between the current speed limit value and the value corresponding to the currently recognized ramp speed limit sign is greater than or equal to a preset difference. If so, the corresponding weight value is the third preset weight value. If not, the corresponding weight value is 0. In this embodiment, the third preset weight value is 4 and the preset difference is 40. The change in the road speed limit may reflect that the type of the subsequent road is different from the current road, that is, there is a possibility of the appearance of a ramp. Therefore, in this embodiment, the third preset weight value is given a value less than the preset weight sum threshold.

[0045] Determine whether the lateral distance between the vehicle 100 and the currently recognized ramp speed limit sign is the largest among all recognized speed limit signs. If so, the corresponding weight value is the fourth preset weight value. If not, the corresponding weight value is 0. Among them, the lateral distance is the distance between the vehicle 100 and the speed limit sign when they are on the same horizontal plane. In this embodiment, the fourth preset weight value is 4. It means that the speed limit sign of the ramp is set on the side of the ramp, that is, on the right side of the rightmost lane, and is located on the rightmost side of the vehicle among all speed limit signs. Therefore, when the lateral distance between the vehicle 100 and the currently recognized ramp speed limit sign is the largest among all recognized speed limit signs in the current field of view, it can be judged that the possibility that the currently recognized ramp speed limit sign is the speed limit sign representing the ramp is very high, and thus a certain value can be given to the fourth preset weight value.

[0046] Determine that when the vehicle 100 recognizes the ramp speed limit sign, the longitudinal distance between the vehicle 100 and the previously recognized speed limit sign is less than or equal to the preset longitudinal distance value. If so, the corresponding weight value is the fifth preset weight value. If not, the corresponding weight value is 0. Among them, the longitudinal distance is the distance between the vehicle 100 and the speed limit sign when they are on the same vertical plane. In this embodiment, the fifth preset weight value is 6 and the preset longitudinal distance value is 150 meters. In this embodiment, two consecutive speed limit signs are likely to appear for the main road speed limit and the subsequent ramp speed limit. Therefore, a relatively large value is given to the fifth preset weight value.

[0047] Since a single judgment other than the ramp exit sign judgment does not have a unique correspondence with the ramp scenario, in this embodiment, the above five judgments are confirmed at the same time. And because the fifth judgment has a strong correlation, while the second, third, and fourth judgments have relatively weak correlations, the corresponding weight values of the second, third, and fourth judgments are respectively set to 4, and the corresponding weight value of the fifth judgment is set to 6, so that the combination of the fifth judgment and any one of the second, third, and fourth judgments or the combined combination of the second, third, and fourth judgments can be greater than or equal to the preset weight sum threshold, thereby effectively analyzing and judging the ramp scenario from different visual information and improving the accuracy.

[0048] Step S3-3: Determine whether the sum of all the weight values is greater than or equal to a preset weight sum threshold. If so, the ramp scenario speed limit judgment result is that the ramp scenario speed limit is met; if not, the ramp scenario speed limit judgment result is that the ramp scenario speed limit is not met. In this embodiment, the preset weight sum threshold is 10.

[0049] Since in the ramp scenario, speed limit signs are usually placed in advance at a certain distance before the ramp entrance as a reminder, but this sign has no obvious characteristic attributes, and existing vehicles usually cannot accurately interpret its meaning and make reasonable decisions. Such wrong decisions will seriously affect driving safety and traffic efficiency. If the speed limit system decelerates actively, it will increase serious risks during high-speed driving. In this embodiment, different weight values are assigned to five different scenarios, and the magnitude of the weight value represents the likelihood of the ramp scenario. Finally, it is determined whether the current situation meets the ramp scenario based on whether the sum of the weight values exceeds the preset weight sum threshold.

[0050] When the lane change behavior judgment result of the ramp speed limit value adjustment module 40 meets the lane change behavior and the ramp scenario speed limit judgment result meets the ramp scenario speed limit, update the speed limit value of the vehicle 100 to the value corresponding to the latest identified ramp speed limit sign in the environmental information.

[0051] Among them, the ramp speed limit value adjustment module 40 further determines whether there is a lane change action within a preset lane change distance after the vehicle 100 passes the latest identified ramp speed limit sign. If so, update the speed limit value of the vehicle 100; if not, do not update the speed limit value of the vehicle 100. In this embodiment, the preset lane change distance is 100 meters.

[0052] In this embodiment, the speed limit value is the maximum speed value of the vehicle 100, and the real-time speed of the vehicle 100 is forcibly controlled not to exceed this speed limit value. In other embodiments, the speed limit value is a warning message to remind the driver and suggest that the driver control the real-time speed of the vehicle 100 not to exceed this speed limit value.

[0053] The control module 50 stores a control program for controlling the operation of the above-mentioned modules.

[0054] In this embodiment, the lane change behavior judgment module 20, the ramp scenario speed limit judgment module 30, the ramp speed limit value adjustment module 40, and the control module 50 are set in the vehicle 100. In other embodiments, the above modules can be set in devices outside the vehicle 100, and the speed limit value of the vehicle 100 is updated by means of communication connection with the vehicle 100.

[0055] The following describes the process of the speed limit decision-making method for the ramp scenario of the vehicle 100 with reference to the accompanying drawings.

[0056] Figure 4 It is a flow chart of the speed limit decision-making method for the ramp scenario in the embodiment of the present invention.

[0057] As Figure 4 shown, the speed limit decision-making method for ramp scenarios includes the following steps:

[0058] Step S1, namely the data acquisition step, uses the data acquisition module 10 to obtain the environmental information around the vehicle 100, the vehicle speed information of the vehicle 100, and the driver's control information of the vehicle 100.

[0059] Step S2, namely the lane change behavior judgment step, uses the lane change behavior judgment module 20 to generate a lane change behavior judgment result based on the environmental information and the control information.

[0060] Step S3, namely the ramp scenario speed limit judgment step, uses the ramp scenario speed limit judgment module 30 to generate a ramp scenario speed limit judgment result based on the environmental information and the vehicle speed information.

[0061] Step S4, namely the ramp speed limit value adjustment step, uses the ramp speed limit value adjustment module 40 to update the speed limit value of the vehicle 100 to the value corresponding to the latest identified ramp speed limit sign in the environmental information when the lane change behavior judgment result is that the lane change behavior is satisfied and the ramp scenario speed limit judgment result is that the ramp scenario speed limit is satisfied.

[0062] In this embodiment, step S2 is executed first and then step S3. In other embodiments, step S3 can be executed first and then step S2, or step S2 and step S3 can be executed synchronously.

[0063] Functions and effects of the embodiment

[0064] According to the speed limit decision-making method and vehicle for ramp scenarios involved in this embodiment, it is determined whether there is a lane change behavior of the vehicle moving from the main road to the ramp through the lane change behavior judgment, and it is determined whether there is a ramp speed limit requirement for the vehicle through the ramp scenario speed limit judgment, and then the speed limit value of the vehicle is updated according to the speed limit requirement of the ramp speed limit sign. In short, this method can accurately judge the ramp scenario and automatically adjust the speed limit value.

[0065] Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A speed limit decision method for a ramp scenario, used to generate a speed limit value for a vehicle, characterized in that: The following steps are involved: A data collection step, obtaining environmental information around the vehicle, vehicle speed information of the vehicle and driver control information of the vehicle; a lane change behavior judgment step, generating a lane change behavior judgment result according to the environmental information and the control information, the lane change behavior judgment result being a lane change behavior satisfied or a lane change behavior not satisfied; a ramp scene speed limit judgment step, generating a ramp scene speed limit judgment result according to the environmental information and the vehicle speed information, the ramp scene speed limit judgment result being that the ramp scene speed limit is met or that the ramp scene speed limit is not met; The ramp speed limit value adjustment step, when the lane change behavior judgment result is that the lane change behavior is satisfied and the ramp scene speed limit judgment result is that the ramp scene speed limit is satisfied, updates the speed limit value of the vehicle to the value corresponding to the ramp speed limit sign most recently identified in the environmental information, Among them, the ramp speed limit sign is a speed limit sign whose corresponding value is less than a first preset value.

2. The speed limit decision method for ramp scenarios according to claim 1, characterized in that: in, The environmental information includes the current lane of the vehicle, The control information includes right turn signal information and steering wheel steering information of the vehicle, The lane change behavior judgment step includes the following sub-steps: Step S2-1, determining whether the current lane is the rightmost lane, if so, proceeding to step S2-2, if not, the lane change behavior determination result is that the lane change behavior is not satisfied; Step S2-2, judging whether the steering wheel is turned to the right according to the steering wheel steering information, if so, proceeding to step S2-3, if not, the lane change behavior judgment result is that the lane change behavior is not satisfied; Step S2-3, judging whether the right turn signal is in operation according to the right turn signal information, if so, proceeding to step S2-4, if not, the lane change behavior judgment result is that the lane change behavior is not satisfied; Step S2-4, judging whether the vehicle changes lanes to the right according to the current lane, if so, the lane change behavior judgment result satisfies the lane change behavior, if not, entering the step S2-1.

3. The speed limit decision method for ramp scenarios according to claim 2, characterized in that: in, In step S2-4, when the vehicle crosses the lane line of the current lane to the right, the vehicle changes lanes to the right.

4. The speed limit decision method for ramp scenarios according to claim 1, Features: The ramp scene speed limit determination step includes the following sub-steps: Step S3-1, judging whether the ramp speed limit sign is currently recognized according to the environmental information, if so, proceeding to step S3-2, if not, the ramp scene speed limit judgment result is that the ramp scene speed limit is not met; Step S3-2, generating weight values ​​corresponding to a plurality of different judgment items according to the environmental information and the vehicle speed information; Step S3-3, determine whether the sum of all the weight values ​​is greater than or equal to the preset weight and threshold. If so, the ramp scene speed limit judgment result is that the ramp scene speed limit is met. If not, the ramp scene speed limit judgment result is that the ramp scene speed limit is not met.

5. The speed limit decision method for ramp scenarios according to claim 4, Features: The environmental information includes ramp exit signs and curve signs. The vehicle speed information includes the current speed limit value of the vehicle, The judgment items and the corresponding weight values ​​include: Determine whether the ramp exit sign exists, if yes, the corresponding weight value is the first preset weight value, if no, the corresponding weight value is 0; Determine whether the curve sign exists, if yes, the corresponding weight value is a second preset weight value, if no, the corresponding weight value is 0; Determine whether the difference between the current speed limit value and the value corresponding to the currently identified ramp speed limit sign is greater than or equal to a preset difference value, if so, the corresponding weight value is a third weight preset value, if not, the corresponding weight value is 0; Determine whether the lateral distance between the vehicle and the currently identified ramp speed limit sign is the largest among all the identified speed limit signs, if so, the corresponding weight value is a fourth weight preset value, if not, the corresponding weight value is 0; When it is determined that the vehicle recognizes the ramp speed limit sign, the longitudinal distance between the vehicle and the last recognized speed limit sign is less than or equal to a preset longitudinal distance value. If so, the corresponding weight value is the fifth weight preset value; if not, the corresponding weight value is 0.

6. The speed limit decision method for ramp scenarios according to claim 5, characterized in that: in, The lateral distance is the distance between the vehicle and the speed limit sign when the two are located in the same horizontal plane. The longitudinal distance is the distance between the vehicle and the speed limit sign when the two are located in the same longitudinal horizontal plane.

7. The speed limit decision method for ramp scenarios according to claim 6, characterized in that: in, The first weight preset value is 10, The second preset weight value, the third preset weight value and the fourth preset weight value are all 4, The fifth weight preset value is 6, The preset weight and threshold is 10.

8. The speed limit decision method for ramp scenarios according to claim 1, characterized in that: in, The first preset value is 80.

9. The speed limit decision method for ramp scenarios according to claim 1, characterized in that: in, In the ramp speed limit value adjustment step, it is determined whether the vehicle has a lane change action within a preset lane change distance after passing the most recently identified ramp speed limit sign. If so, the speed limit value of the vehicle is updated; if not, the speed limit value of the vehicle is not updated.

10. A vehicle, updating a speed limit value in a ramp scenario, characterized in that: include: A data acquisition module is used to obtain real-time environmental information about the vehicle, vehicle speed information, and driver control information about the vehicle; a lane changing behavior judgment module, generating a lane changing behavior judgment result according to the environmental information and the control information, wherein the lane changing behavior judgment result is a lane changing behavior that satisfies the lane changing behavior or a lane changing behavior that does not satisfy the lane changing behavior; a ramp scene speed limit judgment module, which generates a ramp scene speed limit judgment result according to the environmental information and the vehicle speed information, wherein the ramp scene speed limit judgment result is whether the ramp scene speed limit is met or not met; a ramp speed limit value adjustment module, when the lane change behavior judgment result is that the lane change behavior is satisfied and the ramp scene speed limit judgment result is that the ramp scene speed limit is satisfied, updating the speed limit value of the vehicle to the value corresponding to the ramp speed limit sign most recently identified in the environmental information, Among them, the ramp speed limit sign is a speed limit sign whose corresponding value is less than a first preset value.

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