Adaptive speed regulation method, device, electronic device and computer-readable storage medium

Abstract

The present invention proposes an adaptive speed regulation method, device, electronic device, and computer-readable storage medium. The adaptive speed regulation method includes: obtaining a vehicle's target speed, the speed limit for each lane within a preset driving area, and the average traffic speed for each lane; and adjusting the vehicle's speed based on the target speed, the speed limit, and the average traffic speed based on a preset objective function. This improves the success rate and accuracy of speed adjustment in intelligent driving mode, and takes the user's true intention into account during the speed regulation process, better meeting the user's speed regulation needs.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an adaptive speed regulation method, device, electronic device, and computer-readable storage medium. Background Art

[0002] With the development of intelligent driving technology, speed control, as a key interactive function in intelligent driving systems, has become increasingly important in the intelligent driving process. However, existing technologies for implementing speed control in intelligent driving mostly rely solely on the vehicle's current lane, which has certain limitations. Specifically, in actual intelligent driving environments, a vehicle's speed control in its lane may be hindered by various factors (such as temporary obstacles on the road surface, narrowing of the lane, etc.), resulting in the user's speed control settings being ineffective, making it difficult to meet the user's speed control needs, and thus seriously affecting the user's experience with the intelligent driving system. Summary of the Invention

[0003] In view of the above, it is necessary to propose an adaptive speed control method, device, electronic device and computer-readable storage medium to solve the technical problem that the existing technology may be constrained by various obstacles when realizing the speed control function of intelligent driving, resulting in the user's speed control settings being unable to take effect and difficult to meet the user's speed control needs, thereby seriously affecting the user's experience of using the intelligent driving system.

[0004] In a first aspect, the present invention provides an adaptive speed regulation method, comprising: obtaining a target driving speed of the vehicle, a limited driving speed of each lane in a preset driving area of ​​the vehicle, and an average traffic speed of each lane; based on a preset objective function, adjusting the driving speed of the vehicle according to the target driving speed, the limited driving speed, and the average traffic speed.

[0005] In the adaptive speed control method of the present invention, the target driving speed of the vehicle, the speed limit of each lane in the preset driving area of ​​the vehicle, and the average traffic speed of each lane are first obtained; finally, based on the preset objective function, the driving speed of the vehicle is adjusted according to the target driving speed, the speed limit, and the average traffic speed. Based on this, the present invention adjusts the driving speed of the vehicle by comprehensively considering multiple factors such as the target driving speed of the vehicle, the speed limit of each lane, and the average traffic speed, which helps the vehicle select a more appropriate lane and speed for driving, avoids the limitations of speed control based on only a single lane, makes the vehicle speed control more flexible and accurate, improves the success rate and accuracy of the vehicle speed control in the intelligent driving mode, and takes into account the user's true intentions during the speed control process, which can better meet the user's speed control needs. Even in complex road environments, the vehicle can be driven as close to the user's desired target driving speed as possible, enhances the user's trust and satisfaction with the intelligent driving system, and improves the user's overall driving experience.

[0006] In some embodiments of the present invention, adjusting the vehicle's driving speed according to the target driving speed, the speed limit, and the average traffic flow speed based on a preset objective function includes: determining a recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic flow speed; if the vehicle is detected to be in the recommended lane, adjusting the vehicle's driving speed according to the target driving speed and the speed limit of the recommended lane.

[0007] In some embodiments of the present invention, determining the recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic speed includes: calculating the speed limit difference for each lane based on the target driving speed and the speed limit; calculating the traffic speed difference for each lane based on the target driving speed and the average traffic speed; and determining the recommended lane for the vehicle based on the speed limit difference and the traffic speed difference based on the objective function.

[0008] In some embodiments of the present invention, the calculation formula of the objective function is:

[0009] ;

[0010] in, , is a positive integer, For the The objective function value of the lane, is the preset weight of the speed limit difference, For the said The speed limit difference between lanes, is the preset weight of the traffic speed difference, For the said The traffic speed difference between the lanes.

[0011] In some embodiments of the present invention, determining the recommended lane for the vehicle based on the objective function and according to the speed limit difference and the traffic speed difference includes: traversing the objective function value of each lane and determining the lane corresponding to the minimum objective function value as the recommended lane.

[0012] In some embodiments of the present invention, obtaining the average traffic speed of each lane in the preset driving area of ​​the vehicle includes: obtaining the real-time driving speed of at least one other vehicle in each lane and the longitudinal distance between each of the at least one other vehicle and the vehicle; if of the at least one other vehicle in the lane The longitudinal distances of the other vehicles to the vehicle are within a preset distance range, according to the The real-time driving speed of the other vehicles determines the The average traffic speed of lanes, where , Is a positive integer.

[0013] In some embodiments of the present invention, according to the The calculation formula for determining the average traffic flow speed of each lane based on the real-time driving speed of other vehicles is:

[0014] ;

[0015] in, For the said The average traffic speed of the lanes, For the The first lane other vehicles, , is the number of other vehicles in the at least one other vehicle whose longitudinal distance from the vehicle is within a preset distance range, For the said Lane The sum of the real-time speeds of other vehicles.

[0016] In a second aspect, the present invention also provides an adaptive speed control device, comprising: an acquisition module for obtaining the target driving speed of the vehicle, the limited driving speed of each lane in the preset driving area of ​​the vehicle, and the average traffic speed of each lane; a speed control module for adjusting the driving speed of the vehicle according to the target driving speed, the limited driving speed, and the average traffic speed based on a preset objective function.

[0017] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the adaptive speed regulation method described in the above embodiment when executed by the processor.

[0018] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the adaptive speed regulation method described in the above embodiment is implemented.

[0019] It can be understood that the adaptive speed regulation device of the second aspect, the electronic device of the third aspect, and the computer-readable storage medium of the fourth aspect provided above all correspond to the adaptive speed regulation method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding adaptive speed regulation method provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 1 is a flow chart of an adaptive speed regulation method provided by an embodiment of the present invention;

[0021] Figure 2 Detailed flowchart of the adaptive speed regulation method provided by one embodiment of the present invention;

[0022] Figure 3 Schematic diagram of an application scenario of the adaptive speed regulation method provided by an embodiment of the present invention;

[0023] Figure 4 Detailed flowchart of an adaptive speed regulation method provided by another embodiment of the present invention;

[0024] Figure 5 1 is a schematic diagram of the functional modules of an adaptive speed regulation device provided by an embodiment of the present invention;

[0025] Figure 6 It is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention.

[0026] Component Symbol Description

[0027] Electronic device 10

[0028] Memory 11

[0029] Processor 12

[0030] Adaptive speed control device 100

[0031] Acquisition module 110

[0032] Speed ​​control module 120

[0033] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] In order to more clearly understand the embodiments of the present invention, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0036] In existing technology, users typically set their desired speed by turning a physical button, such as a scroll wheel, on the vehicle. Upon receiving the user's set speed, the intelligent driving system then controls the vehicle's acceleration and deceleration based on multiple factors, including the vehicle's current speed, the relative speed and position of adjacent vehicles in its lane, and the lane's speed limit, to achieve the user's desired speed.

[0037] However, in actual operation, due to the existence of obstacles such as speed limits and obstacles in the lane, the vehicle may not be able to reach the user's expected driving speed, resulting in the user's speed control settings being unable to take effect, making it difficult to meet the user's speed control needs, and seriously affecting the user's experience of the intelligent driving system.

[0038] Based on this, an embodiment of the present invention provides an adaptive speed regulation method, including: if a preset speed regulation operation is detected when the vehicle is in an intelligent driving mode, obtaining the target driving speed of the vehicle; obtaining the limited driving speed of each lane in the preset driving area of ​​the vehicle and the average traffic speed of each lane; based on a preset objective function, adjusting the vehicle's driving speed according to the target driving speed, the limited driving speed, and the average traffic speed.

[0039] The present invention adjusts the vehicle's speed by comprehensively considering multiple factors such as the vehicle's target speed, the speed limit of each lane, and the average traffic speed, which helps the vehicle select a more appropriate lane and speed for driving, avoids the limitation of speed adjustment based on a single lane, makes vehicle speed adjustment more flexible and accurate, improves the success rate and accuracy of vehicle speed adjustment in intelligent driving mode, takes the user's true intention into consideration during the speed adjustment process, and can better meet the user's speed adjustment needs. Even in complex road conditions, the vehicle can be driven as close as possible to the user's desired target speed, thereby enhancing the user's trust and satisfaction with the intelligent driving system and improving the user's overall driving experience.

[0040] See also Figure 1 , which is a flow chart of an adaptive speed regulation method provided by an embodiment of the present invention.

[0041] The adaptive speed regulation method of an embodiment of the present invention can be applied to one or more electronic devices 10. The electronic device 10 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes but is not limited to a microprocessor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0042] The electronic device 10 may be an onboard device of a vehicle, such as a body control module (BCM), a vehicle control unit (VCU), etc.

[0043] Specifically, the adaptive speed regulation method includes the following steps. According to different requirements, the order of some steps in the flowchart can be changed, and some steps can be omitted.

[0044] S10: Obtain the target driving speed of the vehicle, the driving speed limit of each lane in the preset driving area of ​​the vehicle, and the average traffic speed of each lane.

[0045] It should be noted that the target driving speed refers to the driving speed that the user expects the vehicle to reach.

[0046] In some embodiments of the present invention, the vehicle is provided with physical buttons for adjusting the target driving speed, such as a roller, a button, a knob, a paddle, etc., and the user can adjust the target driving speed by triggering the physical buttons. The preset speed adjustment operation may include the user's triggering operation of the physical buttons.

[0047] Furthermore, when the electronic device 10 detects a preset speed adjustment operation by the user, it determines the target speed based on the specific method of the preset speed adjustment operation. For example, if the user adjusts the speed by turning the scroll wheel, the electronic device 10 determines the increase or decrease in speed based on the direction and amount of rotation of the scroll wheel, and then calculates the target speed based on the vehicle's current speed. For example, if the current speed is 60 km / h and the user rolls the scroll wheel forward one unit scale, the electronic device 10 can calculate the target speed as 65 km / h based on the preset speed adjustment step size (e.g., each scale scale corresponds to a speed change of 5 km / h).

[0048] In other embodiments, the vehicle includes an interactive interface, and the electronic device 10 is in communication with the interactive interface. The interactive interface may also include a virtual button for adjusting the target driving speed, and the user may adjust the target driving speed by triggering the virtual button. The preset speed adjustment operation may also include the user triggering the virtual button.

[0049] It should be noted that the preset driving area refers to the area within the perception range of the vehicle's sensors, the speed limit refers to the maximum speed allowed for vehicles in each lane, and the average traffic speed refers to the average speed of all vehicles in each lane in a specific time period and a specific road section.

[0050] In some embodiments of the present invention, the specific steps of obtaining the speed limit of each lane within a preset driving area of ​​the vehicle include: obtaining map data of the road on which the vehicle is currently traveling, and reading the speed limit of each lane within the preset driving area from the map data.

[0051] Specifically, the vehicle can obtain map data of the road the vehicle is currently traveling on through the built-in navigation system or an external map server, wherein the map data includes but is not limited to the lane distribution of the current driving road and attribute information of each lane, such as the speed limit. The electronic device 10 can then read the speed limit for each lane in the preset driving area from the map data.

[0052] In the above embodiment, by reading the speed limit of each lane in the preset driving area in the map data, the speed limit of each lane can be accurately obtained, providing an accurate basis for subsequent vehicle speed adjustment, reducing the safety risks and possibility of violations caused by speeding, and improving driving safety and compliance.

[0053] In some embodiments of the present invention, the specific steps of obtaining the average traffic speed of each lane in the preset driving area of ​​the vehicle include: obtaining the real-time driving speed of at least one other vehicle in each lane and the longitudinal distance between each of the at least one other vehicle and the vehicle; if At least one other vehicle in the lane The longitudinal distances between each of the other vehicles and the vehicle are within the preset distance range. The real-time speed of other vehicles determines the The average traffic speed of lanes, where , Is a positive integer.

[0054] It should be noted that the term "vehicle" refers to the user's vehicle, i.e., the vehicle currently being driven by the user; other vehicles refer to vehicles other than the user's vehicle within the preset driving area. This distinction is made to ensure the accuracy of the subsequent description.

[0055] It should be noted that the specific steps on how to obtain the average traffic speed of each lane in the preset driving area of ​​the vehicle will be described later. Figure 2 To avoid repetition, the present invention will not be described in detail here.

[0056] In the above embodiment, the average traffic speed in each lane is calculated by taking into account the real-time driving speed of at least one other vehicle in each lane whose longitudinal distance from the vehicle is within a preset range. This makes the calculated average traffic speed more representative and can truly reflect the traffic conditions around the vehicle, avoiding the influence of other vehicles that are too far away, thereby improving the accuracy of speed regulation decisions.

[0057] S20: Based on a preset objective function, the vehicle's driving speed is adjusted according to the target driving speed, the driving speed limit, and the average traffic speed.

[0058] In some embodiments of the present invention, based on a preset objective function, the specific steps of adjusting the vehicle's driving speed according to the target driving speed, the speed limit, and the average traffic speed include: determining a recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic speed; if the vehicle is detected to be in the recommended lane, adjusting the vehicle's driving speed according to the target driving speed and the speed limit of the recommended lane.

[0059] It should be noted that the specific steps on how to adjust the vehicle's speed based on the target speed, the speed limit, and the average traffic speed based on the preset objective function will be described in the following sections. Figure 4 To avoid repetition, the present invention will not be described in detail here.

[0060] In the above embodiment, the recommended lane is determined by integrating the target driving speed, the speed limit, and the average traffic speed through an objective function. When the vehicle is in the recommended lane, the speed is controlled based on the target driving speed and the speed limit of the recommended lane. This fully considers the user's target driving speed and the actual situation of the lane, making the speed adjustment process more in line with the user's intention, effectively meeting the user's speed adjustment needs, improving the success rate and accuracy of the speed adjustment, and enhancing the user's driving experience. It can also ensure that the vehicle travels within a legal and safe speed range, reduce the risk of speeding, and improve the user's driving safety and driving experience.

[0061] In the adaptive speed control method of the present invention, the target driving speed of the vehicle, the speed limit of each lane in the preset driving area of ​​the vehicle, and the average traffic speed of each lane are first obtained; finally, based on the preset objective function, the driving speed of the vehicle is adjusted according to the target driving speed, the speed limit, and the average traffic speed. Based on this, the present invention adjusts the driving speed of the vehicle by comprehensively considering multiple factors such as the target driving speed of the vehicle, the speed limit of each lane, and the average traffic speed, which helps the vehicle select a more appropriate lane and speed for driving, avoids the limitations of speed control based on only a single lane, makes the vehicle speed control more flexible and accurate, improves the success rate and accuracy of the vehicle speed control in the intelligent driving mode, and takes into account the user's true intentions during the speed control process, which can better meet the user's speed control needs. Even in complex road environments, the vehicle can be driven as close to the user's desired target driving speed as possible, enhances the user's trust and satisfaction with the intelligent driving system, and improves the user's overall driving experience.

[0062] See also Figure 2 , which is a detailed flow chart of the adaptive speed regulation method provided by one embodiment of the present invention.

[0063] Step S21: Acquire the real-time driving speed of at least one other vehicle in each lane and the longitudinal distance between each of the at least one other vehicle and the vehicle.

[0064] Specifically, the real-time driving speed of at least one other vehicle in each lane and the longitudinal distance between each of the at least one other vehicle and the vehicle are obtained through sensors such as the vehicle's camera and lidar.

[0065] Step S22: If At least one other vehicle in the lane The longitudinal distances between each of the other vehicles and the vehicle are within the preset distance range. The real-time speed of other vehicles determines the The average traffic speed in each lane.

[0066] Among them, the preset distance range is determined by the forward traffic distance Distance to rear traffic Get, that is, take the longitudinal distance of each lane from the vehicle The average traffic speed of each lane is calculated based on the real-time speed of other vehicles in the lane. There are lanes The longitudinal distance of other vehicles is Inside, then The first lane The real-time speed of other vehicles is expressed as , , No. The average traffic speed of a lane is expressed as .For example, Figure 3 As shown, Indicates the The average traffic speed of the lanes, Represents the average traffic speed in the second lane... and so on.

[0067] Specifically, according to The calculation formula for determining the average traffic flow speed of each lane based on the real-time driving speed of other vehicles is:

[0068] ;

[0069] in, For the The average traffic speed of the lanes, For the The first lane other vehicles, , is the number of other vehicles in the at least one other vehicle whose longitudinal distance from the vehicle is within a preset distance range, For the In lane The sum of the real-time speeds of other vehicles.

[0070] In the above embodiment, the average traffic speed in each lane is calculated by taking into account the real-time driving speed of at least one other vehicle in each lane whose longitudinal distance from the vehicle is within a preset range. This makes the calculated average traffic speed more representative and can truly reflect the traffic conditions around the vehicle, avoiding the influence of other vehicles that are too far away, thereby improving the accuracy of speed regulation decisions.

[0071] See also Figure 4 , which is a detailed flow chart of the adaptive speed regulation method provided by another embodiment of the present invention.

[0072] S31: Determine a recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic speed.

[0073] Specifically, the specific steps of determining the recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic speed include: calculating the speed limit difference of each lane according to the target driving speed and the speed limit; ,For example, Figure 3 As shown, Indicates the The speed limit difference between the speed limit on the lane and the target speed, Indicates the The speed limit difference between the speed limit of the lane and the target speed... and so on; the traffic speed difference of each lane is calculated according to the target speed and the average traffic speed; based on the objective function, the recommended lane for the vehicle is determined according to the speed limit difference and the traffic speed difference.

[0074] Furthermore, the speed limit difference of each lane is calculated based on the target speed and the speed limit as follows:

[0075] ;

[0076] in, For the The speed limit difference between lanes, For the The speed limit for each lane, is the target driving speed.

[0077] Furthermore, the formula for calculating the traffic speed difference of each lane based on the target driving speed and the average traffic speed is:

[0078] ;

[0079] in, For the The traffic speed difference between lanes, For the The average traffic speed of the lanes, is the target driving speed.

[0080] Furthermore, the objective function is calculated as follows:

[0081] ;

[0082] in, , is a positive integer, For the The objective function value of the lane, is the preset weight of the speed limit difference, For the The speed limit difference between lanes, is the preset weight of the traffic speed difference, For the The traffic speed difference between the lanes.

[0083] Furthermore, based on the objective function, the specific steps of determining the recommended lane for the vehicle according to the speed limit difference and the traffic speed difference include: traversing the objective function value of each lane, and determining the lane corresponding to the minimum objective function value as the recommended lane.

[0084] S32: If it is detected that the vehicle is in the recommended lane, adjust the vehicle's driving speed according to the target driving speed and the speed limit of the recommended lane.

[0085] In some embodiments of the present invention, if the recommended lane is not the vehicle's current lane, the vehicle is controlled to move to the recommended lane, and then the vehicle's speed is adjusted based on the target speed and the speed limit of the recommended lane. If the recommended lane is the vehicle's current lane, the vehicle does not need to be controlled to change lanes; the vehicle's speed is adjusted directly based on the target speed and the speed limit of the recommended lane.

[0086] Specifically, if the target speed is lower than or equal to the speed limit of the recommended lane, the vehicle is accelerated to increase the speed to the target speed. If the target speed is higher than the speed limit of the recommended lane, the vehicle is decelerated to reduce the speed to the speed limit.

[0087] In the above embodiment, the recommended lane is determined by integrating the target driving speed, the speed limit, and the average traffic speed through an objective function. When the vehicle is in the recommended lane, the speed is controlled based on the target driving speed and the speed limit of the recommended lane. This fully considers the user's target driving speed and the actual situation of the lane, making the speed adjustment process more in line with the user's intention, effectively meeting the user's speed adjustment needs, improving the success rate and accuracy of the speed adjustment, and enhancing the user's driving experience. It can also ensure that the vehicle travels within a legal and safe speed range, reduce the risk of speeding, and improve the user's driving safety and driving experience.

[0088] See also Figure 5 , is a schematic diagram of the functional modules of an adaptive speed regulation device 100 provided in one embodiment of the present invention.

[0089] In this embodiment, based on the above Figure 1The present invention also provides an adaptive speed regulation device 100 that is capable of executing the adaptive speed regulation method described in the illustrated embodiment. For ease of explanation, the schematic diagram of the embodiment of the adaptive speed regulation device 100 only illustrates portions relevant to the embodiment of the present invention. Those skilled in the art will appreciate that the illustrated structure does not limit the adaptive speed regulation device 100 and may include more or fewer components than illustrated, or combine certain components, or arrange the components differently.

[0090] Specifically, the adaptive speed regulation device 100 provided by the embodiment of the present invention includes an acquisition module 110 and a speed regulation module 120 .

[0091] The acquisition module 110 is used to obtain the target driving speed of the vehicle, the speed limit of each lane in a preset driving area of ​​the vehicle, and the average traffic speed of each lane.

[0092] It should be noted that the target driving speed refers to the driving speed that the user expects the vehicle to reach.

[0093] In some embodiments of the present invention, the vehicle is provided with physical buttons for adjusting the target driving speed, such as a roller, a button, a knob, a paddle, etc., and the user can adjust the target driving speed by triggering the physical buttons. The preset speed adjustment operation may include the user's triggering operation of the physical buttons.

[0094] Furthermore, when the electronic device 10 detects a preset speed adjustment operation by the user, it determines the target speed based on the specific method of the preset speed adjustment operation. For example, if the user adjusts the speed by turning the scroll wheel, the electronic device 10 determines the increase or decrease in speed based on the direction and amount of rotation of the scroll wheel, and then calculates the target speed based on the vehicle's current speed. For example, if the current speed is 60 km / h and the user rolls the scroll wheel forward one unit scale, the electronic device 10 can calculate the target speed as 65 km / h based on the preset speed adjustment step size (e.g., each scale scale corresponds to a speed change of 5 km / h).

[0095] In other embodiments, the vehicle includes an interactive interface, and the electronic device 10 is in communication with the interactive interface. The interactive interface may also include a virtual button for adjusting the target driving speed, and the user may adjust the target driving speed by triggering the virtual button. The preset speed adjustment operation may also include the user triggering the virtual button.

[0096] The second acquisition module is used to obtain map data of the road the vehicle is currently traveling on.

[0097] It should be noted that the preset driving area refers to the area within the perception range of the vehicle's sensors, the speed limit refers to the maximum speed allowed for vehicles in each lane, and the average traffic speed refers to the average speed of all vehicles in each lane in a specific time period and a specific road section.

[0098] In some embodiments of the present invention, the specific steps of obtaining the speed limit of each lane within a preset driving area of ​​the vehicle include: obtaining map data of the road on which the vehicle is currently traveling, and reading the speed limit of each lane within the preset driving area from the map data.

[0099] Specifically, the vehicle can obtain map data of the road the vehicle is currently traveling on through the built-in navigation system or an external map server, wherein the map data includes but is not limited to the lane distribution of the current driving road and attribute information of each lane, such as the speed limit. The electronic device 10 can then read the speed limit for each lane in the preset driving area from the map data.

[0100] In the above embodiment, by reading the speed limit of each lane in the preset driving area in the map data, the speed limit of each lane can be accurately obtained, providing an accurate basis for subsequent vehicle speed adjustment, reducing the safety risks and possibility of violations caused by speeding, and improving driving safety and compliance.

[0101] In some embodiments of the present invention, the specific steps of obtaining the average traffic speed of each lane in the preset driving area of ​​the vehicle include: obtaining the real-time driving speed of at least one other vehicle in each lane and the longitudinal distance between each of the at least one other vehicle and the vehicle; if At least one other vehicle in the lane The longitudinal distances between each of the other vehicles and the vehicle are within the preset distance range. The real-time speed of other vehicles determines the The average traffic speed of lanes, where , Is a positive integer.

[0102] It should be noted that the term "vehicle" refers to the user's vehicle, i.e., the vehicle currently being driven by the user; other vehicles refer to vehicles other than the user's vehicle within the preset driving area. This distinction is made to ensure the accuracy of the subsequent description.

[0103] It should be noted that the specific steps on how to obtain the average traffic speed of each lane in the preset driving area of ​​the vehicle are described in the above Figure 2 To avoid repetition, the present invention will not be described in detail here.

[0104] In the above embodiment, the average traffic speed in each lane is calculated by taking into account the real-time driving speed of at least one other vehicle in each lane whose longitudinal distance from the vehicle is within a preset range. This makes the calculated average traffic speed more representative and can truly reflect the traffic conditions around the vehicle, avoiding the influence of other vehicles that are too far away, thereby improving the accuracy of speed regulation decisions.

[0105] The speed adjustment module 120 is configured to adjust the vehicle's driving speed based on a preset objective function, the target driving speed, the speed limit, and the average traffic flow speed.

[0106] In some embodiments of the present invention, based on a preset objective function, the specific steps of adjusting the vehicle's driving speed according to the target driving speed, the speed limit, and the average traffic speed include: determining a recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic speed; if the vehicle is detected to be in the recommended lane, adjusting the vehicle's driving speed according to the target driving speed and the speed limit of the recommended lane.

[0107] It should be noted that the specific steps on how to adjust the vehicle's speed based on the target speed, the speed limit, and the average traffic speed based on the preset objective function will be described in the following sections. Figure 4 To avoid repetition, the present invention will not be described in detail here.

[0108] In the above embodiment, the recommended lane is determined by integrating the target driving speed, the speed limit, and the average traffic speed through an objective function. When the vehicle is in the recommended lane, the speed is controlled based on the target driving speed and the speed limit of the recommended lane. This fully considers the user's target driving speed and the actual situation of the lane, making the speed adjustment process more in line with the user's intention, effectively meeting the user's speed adjustment needs, improving the success rate and accuracy of the speed adjustment, and enhancing the user's driving experience. It can also ensure that the vehicle travels within a legal and safe speed range, reduce the risk of speeding, and improve the user's driving safety and driving experience.

[0109] It should be noted that the specific steps on how to adjust the vehicle's driving speed based on the preset objective function according to the target driving speed, the restricted driving speed, and the average traffic speed are described in the above. Figure 4 To avoid repetition, the present invention will not be described in detail here.

[0110] In the adaptive speed control device 100 of the present invention, the target driving speed of the vehicle, the speed limit of each lane in the preset driving area of ​​the vehicle, and the average traffic speed of each lane are first obtained; finally, based on the preset objective function, the vehicle's driving speed is adjusted according to the target driving speed, the speed limit, and the average traffic speed. Based on this, the present invention adjusts the vehicle's driving speed by comprehensively considering multiple factors such as the target driving speed of the vehicle, the speed limit of each lane, and the average traffic speed, which helps the vehicle select a more appropriate lane and speed for driving, avoids the limitations of speed control based on only a single lane, makes vehicle speed control more flexible and accurate, improves the success rate and accuracy of vehicle speed control in the intelligent driving mode, and takes into account the user's true intention during the speed control process, which can better meet the user's speed control needs. Even in complex road environments, the vehicle can be driven as close to the user's desired target driving speed as possible, enhances the user's trust and satisfaction with the intelligent driving system, and improves the user's overall driving experience.

[0111] Please refer to FIG6 , which is a schematic diagram of the hardware structure of an electronic device 10 provided in an embodiment of the present invention.

[0112] The electronic device 10 provided in an embodiment of the present invention includes but is not limited to a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12, such as an adaptive speed regulation program. When the computer program is executed by the processor 12, the adaptive speed regulation method of the above embodiment is implemented.

[0113] Figure 6 Only the electronic device 10 having the memory 11 and the processor 12 is shown. It can be understood by those skilled in the art that Figure 6 The structure shown does not limit the electronic device 10 , and the electronic device 10 may include fewer or more components than shown, or combine certain components, or arrange the components differently.

[0114] In some embodiments of the present invention, the electronic device 10 can be communicatively connected to a desktop computer, a notebook, a PDA, a cloud server, or other devices.

[0115] In some embodiments of the present invention, the electronic device 10 can perform human-computer interaction with the user through a keyboard, mouse, remote control, touchpad, or voice control device.

[0116] In some embodiments of the present invention, the electronic device 10 may further include a network device and / or a client device. The network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, and a cloud server based on cloud computing consisting of a large number of hosts or network servers.

[0117] In some embodiments of the present invention, the network where the electronic device 10 is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0118] In some embodiments of the present invention, the memory 11 stores multiple computer-readable instructions to implement an adaptive speed control method, and the processor 12 can execute the multiple instructions to achieve: obtaining the target driving speed of the vehicle, the limit driving speed of each lane in the preset driving area of ​​the vehicle, and the average traffic speed of each lane; based on a preset objective function, adjusting the vehicle's driving speed according to the target driving speed, the limit driving speed, and the average traffic speed.

[0119] Specifically, the specific implementation method of the processor 12 for the above instructions can refer to Figure 1 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0120] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 10 and does not constitute a limitation on the electronic device 10. The electronic device 10 may have a bus structure or a star structure. The electronic device 10 may also include more or less other hardware or software than shown in the figure, or a different arrangement of components. For example, the electronic device 10 may also include input and output devices, network access devices, etc.

[0121] The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The diagram is represented by only one arrow, but this does not mean that there is only one bus or one type of bus. The bus is configured to implement connection and communication between the memory 11 and at least one processor 12, etc.

[0122] It should be noted that the electronic device 10 is only an example, and other existing or future electronic products that are adaptable to the present invention should also be included in the scope of protection of the present invention and incorporated herein by reference.

[0123] In some embodiments of the present invention, the processor 12 may be comprised of an integrated circuit, such as a single packaged integrated circuit or a plurality of packaged integrated circuits with the same or different functions, including a combination of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 12 is the control core (control unit) of the electronic device 10, connecting the various components of the electronic device 10 using various interfaces and circuits. It executes or executes programs or modules stored in the memory 11 (e.g., executing an adaptive speed control program) and accessing data stored in the memory 11 to perform various functions of the electronic device 10 and process data.

[0124] The processor 12 executes the operating system of the electronic device 10 and various installed applications. The processor 12 executes the applications to implement the steps in each of the above-mentioned embodiments of the adaptive speed regulation method, for example Figure 1 Steps shown.

[0125] For example, the computer program can be divided into one or more modules / units, one or more of which are stored in the memory 11 and executed by the processor 12 to implement the present invention. One or more modules / units can be a series of computer-readable instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the electronic device 10. For example, the computer program can be divided into an acquisition module 110 and a speed adjustment module 120.

[0126] The integrated unit implemented as a software functional module can be stored in a computer-readable storage medium. The software functional module stored in the storage medium includes instructions for causing a computer device (which can be a personal computer, computer device, or network device, etc.) or a processor to execute a portion of an adaptive speed control method according to various embodiments of the present invention.

[0127] If the modules / units integrated into the electronic device 10 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention can also implement all or part of the processes in the above-mentioned method embodiments by instructing the relevant hardware devices to complete them through a computer program. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments.

[0128] The computer program includes computer program code, which may be in source code form, object code form, executable file, or some intermediate form. Computer-readable media may include any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory, and other memory devices.

[0129] An embodiment of the present invention further provides a computer-readable storage medium (not shown), in which computer-readable instructions are stored. The computer-readable instructions are executed by a processor in the electronic device 10 to implement an adaptive speed regulation method of any of the above embodiments.

[0130] Specifically, the computer-readable storage medium can be non-volatile or volatile. Computer-readable storage media include flash memory, mobile hard disks, multimedia cards, card-type memories (such as SD memories, DX memories, etc.), magnetic memories, magnetic disks, optical disks, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 10, such as a mobile hard disk of the electronic device 10. In other embodiments, the memory 11 can also be an external storage device of the electronic device 10, such as a plug-in mobile hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 10. The memory 11 can not only be used to store application software installed in the electronic device 10 and various types of data, such as the code of an adaptive speed control program, but can also be used to temporarily store data that has been output or is about to be output.

[0131] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0132] In the embodiments of the present invention, it should be noted that, unless otherwise clearly specified or limited, the meaning of “multiple” refers to two or more.

[0133] In the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, words such as "for example" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "for example" in the embodiments of the present invention should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "for example" and "for example" is intended to present the relevant concepts in a concrete manner.

[0134] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0135] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more features.

[0136] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, "and / or" is merely a description of the association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the associated objects are in an "or" relationship.

[0137] Unless otherwise specified, all steps of the present invention may be performed sequentially or randomly. For example, a statement that a method includes steps A and B indicates that the method may include steps A and B performed sequentially, or steps B and A performed sequentially. For example, a statement that a method may also include step C indicates that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or steps A, C, and B, or steps C, A, and B, etc.

[0138] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0139] In the several embodiments provided by the present invention, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the module division is only a logical function division, and other division methods may be used in actual implementation.

[0140] The functional modules in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional modules.

[0141] In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the specification can also be implemented by one unit or device through software or hardware.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An adaptive speed regulation method, characterized in that: The method comprises: Obtaining a target driving speed for the vehicle, a driving speed limit for each lane within a preset driving area of ​​the vehicle, and an average traffic flow speed for each lane; Based on a preset objective function, adjusting the driving speed of the vehicle according to the target driving speed, the speed limit, and the average traffic flow speed; The adjusting the driving speed of the vehicle according to the target driving speed, the limited driving speed, and the average traffic flow speed based on a preset objective function includes: determining a recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic speed; If it is detected that the vehicle is in the recommended lane, adjusting the driving speed of the vehicle according to the target driving speed and the speed limit of the recommended lane; The determining of the recommended lane for the vehicle based on the objective function, the target driving speed, the speed limit, and the average traffic speed includes: Calculating a speed limit difference for each lane according to the target driving speed and the speed limit; Calculating a traffic speed difference of each lane according to the target driving speed and the average traffic speed; Based on the objective function, a recommended lane for the vehicle is determined according to the speed limit difference and the traffic flow speed difference.

2. The adaptive speed regulation method according to claim 1, wherein: The calculation formula of the objective function is: ； in, , is a positive integer, For the The objective function value of the lane, is the preset weight of the speed limit difference, For the said The speed limit difference between lanes, is the preset weight of the traffic speed difference, For the said The traffic speed difference between the lanes.

3. The adaptive speed regulation method according to claim 1, wherein: Determining the recommended lane for the vehicle based on the speed limit difference and the traffic flow speed difference based on the objective function includes: The objective function value of each lane is traversed, and the lane corresponding to the minimum objective function value is determined as the recommended lane.

4. The adaptive speed regulation method according to claim 1, wherein: Obtaining the average traffic speed of each lane in the preset driving area of ​​the vehicle includes: obtaining a real-time driving speed of at least one other vehicle on each lane and a longitudinal distance between each of the at least one other vehicle and the vehicle; Jordi of the at least one other vehicle in the lane The longitudinal distances of the other vehicles to the vehicle are within a preset distance range, according to the The real-time driving speed of the other vehicles determines the The average traffic speed of lanes, where , Is a positive integer.

5. The adaptive speed regulation method according to claim 4, wherein: According to the The calculation formula for determining the average traffic flow speed of each lane based on the real-time driving speed of other vehicles is: ； in, For the said The average traffic speed of the lanes, For the The first lane other vehicles, , is the number of other vehicles in the at least one other vehicle whose longitudinal distance from the vehicle is within a preset distance range, For the said Lane The sum of the real-time speeds of other vehicles.

6. An adaptive speed regulating device, characterized in that: The device is used to implement the method according to any one of claims 1 to 5, and the device includes: An acquisition module is used to acquire a target driving speed of the vehicle, a driving speed limit of each lane within a preset driving area of ​​the vehicle, and an average traffic speed of each lane; The speed regulating module is used to adjust the driving speed of the vehicle according to the target driving speed, the limited driving speed, and the average traffic flow speed based on a preset objective function.

7. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the adaptive speed regulation method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the adaptive speed regulation method according to any one of claims 1 to 5 is implemented.

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